joint_states topic name field sorted alphabetically
I'm using joint_state_controller to publish the joint_states topics. My robot is composed by a crane and an arm. The origin of the chain is the crane_bridge_joint and joint_states topic is:
name: [ 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'crane_bridge_joint', 'crane_arm_joint']
position: [0.03484964823276627, 3.1446214877979326, 0.11884834747659312, 0.056190650599306835, -0.9346745113914041, 3.128057174527214, 3.290371433787131, -0.0005012796984654981]
However if I change the names of the joints the topic look like this:
name: ['crane_bridge_joint', 'crane_hercules_joint', 'hercules_1_joint', 'hercules_2_joint', 'hercules_3_joint', 'hercules_4_joint', 'hercules_5_joint', 'hercules_6_joint']
position: [3.290371433787131, -0.0005012796984654981, 0.03484964823276627, 3.1446214877979326, 0.11884834747659312, 0.056190650599306835, -0.9346745113914041, 3.128057174527214]
I thought that the the publication of the joint_state was based on the robot joints chain (the first joint the base_link and the last one, the tip_link) but I have realized that the joints are sorted alphabetically. Is there any way to avoid this order?
Thanks in advance,
Ane
Afaict there is no code in the
joint_state_controllerthat sorts joint names that way (or in any way, really). It should just use whatever order it receives. Can you verify and possibly post some exampleJointStatemessages?Also, the order should be irrelevant as long as
name[0]corresponds toposition[0]and so forth. May I ask what you are trying to achieve and why this matters?To add on previous comments, what do you mean by 'if I change the names of the joints in the topic'?.