Merge pull request #162 from 708yamaguchi/add-prefix

Add prefix to ActionServer
Kinovarobotics · Jul 20, 2021 · 6a026d7 · 6a026d7
2 parents f4cb54d + e7643c4
commit 6a026d7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp
@@ -514,15 +514,15 @@ void KortexArmDriver::initRosServices()
 void KortexArmDriver::startActionServers()
 {
     // Start Action servers
-    m_action_server_follow_joint_trajectory = new JointTrajectoryActionServer(m_arm_name + "_joint_trajectory_controller/follow_joint_trajectory", m_node_handle, m_base, m_base_cyclic, m_control_config, m_use_hard_limits);
+    m_action_server_follow_joint_trajectory = new JointTrajectoryActionServer(m_prefix + m_arm_name + "_joint_trajectory_controller/follow_joint_trajectory", m_node_handle, m_base, m_base_cyclic, m_control_config, m_use_hard_limits);
     // Start Gripper Action Server if the arm has a gripper
 
     m_action_server_follow_cartesian_trajectory = new CartesianTrajectoryActionServer("cartesian_trajectory_controller/follow_cartesian_trajectory", m_node_handle, m_base, m_base_cyclic);
 
     m_action_server_gripper_command = nullptr;
     if (isGripperPresent())
     {
-        m_action_server_gripper_command = new RobotiqGripperCommandActionServer(m_gripper_name + "_gripper_controller/gripper_cmd", m_gripper_joint_names[0], m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0], m_node_handle, m_base, m_base_cyclic);
+        m_action_server_gripper_command = new RobotiqGripperCommandActionServer(m_prefix + m_gripper_name + "_gripper_controller/gripper_cmd", m_gripper_joint_names[0], m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0], m_node_handle, m_base, m_base_cyclic);
     }
 }