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joint_state_controller

I'm using joint_state_controller to publish the joint_states topics. I have realized that the joints are sorted alphabetically. Is there any way to avoid this order?

Ane

joint_state_controller

I'm using joint_state_controller to publish the joint_states topics. I have realized that the joints are sorted alphabetically. Is there any way to avoid this order?

Ane

 3 No.3 Revision gvdhoorn 59273 ●133 ●500 ●715 http://cor.tudelft.nl/

joint_state_controllerjoint_states topic name field sorted alphabetically

I'm using joint_state_controller to publish the joint_states topics. I have realized that the joints are sorted alphabetically. Is there any way to avoid this order?

Ane

joint_state_controller: 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]

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?

Ane

joint_state_controller: 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?

Ane

 6 No.6 Revision gvdhoorn 59273 ●133 ●500 ●715 http://cor.tudelft.nl/

joint_state_controller: joint_states topic name field sorted alphabetically

I'm using joint_state_controller joint_state_controller to publish the joint_states joint_states topics. My robot is composed by a crane and an arm. The origin of the chain is the crane_bridge_joint crane_bridge_joint and joint_states 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]-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]3.128057174527214]


I thought that the the publication of the joint_state joint_state was based on the robot joints chain (the first joint the "base_link" base_link and the last one, the tip_link) tip_link) but I have realized that the joints are sorted alphabetically. Is there any way to avoid this order?

Ane

 7 retagged

joint_state_controller: joint_states 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?