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Fix joint trajectory action topic in ros_client.cpp #522

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Fix joint trajectory action topic in ros_client.cpp #522

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16 changes: 8 additions & 8 deletions hironx_ros_bridge/include/ros_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,10 +104,10 @@ class ROS_Client

void init_action_clients()
{
static TrajClient aclient_larm("/larm_controller/joint_trajectory_action", true);
static TrajClient aclient_rarm("/rarm_controller/joint_trajectory_action", true);
static TrajClient aclient_head("/head_controller/joint_trajectory_action", true);
static TrajClient aclient_torso("/torso_controller/joint_trajectory_action", true);
static TrajClient aclient_larm("/larm_controller/follow_joint_trajectory_action", true);
static TrajClient aclient_rarm("/rarm_controller/follow_joint_trajectory_action", true);
static TrajClient aclient_head("/head_controller/follow_joint_trajectory_action", true);
static TrajClient aclient_torso("/torso_controller/follow_joint_trajectory_action", true);

aclient_larm.waitForServer();
ROS_INFO("ros_client; 1");
Expand Down Expand Up @@ -202,22 +202,22 @@ class ROS_Client

if (groupname == GR_TORSO)
{
action_client = new TrajClient("torso_controller/joint_trajectory_action", true);
action_client = new TrajClient("torso_controller/follow_joint_trajectory_action", true);
goal = goal_torso;
}
else if (groupname == GR_HEAD)
{
action_client = new TrajClient("head_controller/joint_trajectory_action", true);
action_client = new TrajClient("head_controller/follow_joint_trajectory_action", true);
goal = goal_head;
}
else if (groupname == GR_LARM)
{
action_client = new TrajClient("larm_controller/joint_trajectory_action", true);
action_client = new TrajClient("larm_controller/follow_joint_trajectory_action", true);
goal = goal_larm;
}
else if (groupname == GR_RARM)
{
action_client = new TrajClient("rarm_controller/joint_trajectory_action", true);
action_client = new TrajClient("rarm_controller/follow_joint_trajectory_action", true);
goal = goal_rarm;
}

Expand Down