Merge pull request #194 from Kinovarobotics/bugfix/duplicate-prefix

remove prefix that duplicates joint_state

kortex_driver/readme.md

@@ -58,7 +58,7 @@ The `kortex_driver` node is the node responsible for the communication between t
 - **vision** : Boolean value to indicate if your arm has a Vision Module. The default value is for Gen3 is **true** and the default value for Gen3 lite is **false**. You will have to specify this value only if you have a Gen3 6DOF without a Vision Module. This argument only affects the visual representation of the arm in RViz. 
 - **gripper** : Name of your robot arm's tool / gripper. See the `kortex_description/grippers` folder to see the available end effector models (or to add your own). The default value is **""**. For Gen3, you can also put **robotiq_2f_85** or **robotiq_2f_140**. For Gen3 lite, the default (and only) gripper is **gen3_lite_2f**.
 - **robot_name** : This is the namespace in which the driver will run. It defaults to **my_$(arg arm)** (so "my_gen3" for arm="gen3").
-- **prefix** : This is an optional prefix for all joint and link names in the kortex_description. It is used to allow differentiating between different arms in the same URDF. It defaults to **an empty string**. **Note** : Changing the prefix invalidates the MoveIt! configuration, and requires modifying said configuration, plus the .yaml files with harcoded joint names.
+- **prefix** : This is an optional prefix for all joint and link names in the kortex_description. It is used to allow differentiating between different arms in the same URDF. It defaults to **an empty string**.
 - **ip_address** : The IP address of the robot you're connecting to. The default value is **192.168.1.10**.
 - **username** : The username for the robot connection. The default value is **admin**.
 - **password** : The password for the robot connection. The default value is **admin**.

kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp

@@ -652,7 +652,7 @@ void KortexArmDriver::publishRobotFeedback()
 
         for (int i = 0; i < base_feedback.actuators.size(); i++)
         {
-            joint_state.name[i] = m_prefix + m_arm_joint_names[i];
+            joint_state.name[i] = m_arm_joint_names[i];
             joint_state.position[i] = m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(base_feedback.actuators[i].position));
             joint_state.velocity[i] = m_math_util.toRad(base_feedback.actuators[i].velocity);
             joint_state.effort[i] = base_feedback.actuators[i].torque;
@@ -663,7 +663,7 @@ void KortexArmDriver::publishRobotFeedback()
             for (int i = 0; i < base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size(); i++)
             {
                 int joint_state_index = base_feedback.actuators.size() + i;
-                joint_state.name[joint_state_index] = m_prefix + m_gripper_joint_names[i];
+                joint_state.name[joint_state_index] = m_gripper_joint_names[i];
                 // Arm feedback is between 0 and 100, and limits in URDF are specified in gripper_joint_limits_min[i] and gripper_joint_limits_max[i] parameters
                 joint_state.position[joint_state_index] = m_math_util.absolute_position_from_relative(base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[i].position / 100.0, m_gripper_joint_limits_min[i], m_gripper_joint_limits_max[i]);
                 joint_state.velocity[joint_state_index] = base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[i].velocity;