rename debug node

Author: fmessmer

cob_twist_controller/CMakeLists.txt

@@ -73,9 +73,9 @@ add_executable(debug_trajectory_marker_node src/debug/debug_trajectory_marker_no
 add_dependencies(debug_trajectory_marker_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(debug_trajectory_marker_node ${catkin_LIBRARIES})
 
-add_executable(debug_evaluate_jointstates_node src/debug/debug_evaluate_jointstates_node.cpp)
-add_dependencies(debug_evaluate_jointstates_node ${catkin_EXPORTED_TARGETS})
-target_link_libraries(debug_evaluate_jointstates_node ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+add_executable(debug_fk_vel_recursive_node src/debug/debug_fk_vel_recursive_node.cpp)
+add_dependencies(debug_fk_vel_recursive_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(debug_fk_vel_recursive_node ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
 
 add_executable(test_moving_average_node src/debug/test_moving_average_node.cpp)
 add_dependencies(test_moving_average_node ${catkin_EXPORTED_TARGETS})
@@ -106,7 +106,7 @@ install(TARGETS ${PROJECT_NAME}_node constraint_solvers controller_interfaces da
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-install(TARGETS debug_evaluate_jointstates_node debug_trajectory_marker_node test_moving_average_node test_simpson_integrator_node test_trajectory_command_sine_node test_twist_command_sine_node
+install(TARGETS debug_fk_vel_recursive_node debug_trajectory_marker_node test_moving_average_node test_simpson_integrator_node test_trajectory_command_sine_node test_twist_command_sine_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

cob_twist_controller/launch/debug_evaluate_jointstates.launch renamed to cob_twist_controller/launch/debug_fk_vel_recursive.launch

@@ -8,7 +8,7 @@
   <group ns="$(arg component)">
     <param name="chain_base_link" type="str" value="$(arg chain_base_link)"/>
     <param name="chain_tip_link" type="str" value="$(arg chain_tip_link)"/>
-    <node name="debug_evaluate_jointstates_node" pkg="cob_twist_controller" type="debug_evaluate_jointstates_node" cwd="node" respawn="false" output="screen"/>
+    <node name="debug_fk_vel_recursive_node" pkg="cob_twist_controller" type="debug_fk_vel_recursive_node" cwd="node" respawn="false" output="screen"/>
   </group>
 
 </launch>

cob_twist_controller/src/debug/debug_evaluate_jointstates_node.cpp renamed to cob_twist_controller/src/debug/debug_fk_vel_recursive_node.cpp

@@ -34,7 +34,7 @@
 #include <Eigen/Dense>
 #include <kdl_conversions/kdl_msg.h>
 
-class DebugEvaluateJointStates
+class DebugFkVelRecursive
 {
     ros::NodeHandle nh_;
     ros::Subscriber jointstate_sub_;
@@ -97,7 +97,7 @@ class DebugEvaluateJointStates
         p_jnt2jac_ = new KDL::ChainJntToJacSolver(chain_);
 
         /// initialize ROS interfaces
-        jointstate_sub_ = nh_.subscribe("joint_states", 1, &DebugEvaluateJointStates::jointstateCallback, this);
+        jointstate_sub_ = nh_.subscribe("joint_states", 1, &DebugFkVelRecursive::jointstateCallback, this);
         manipulability_pub_ = nh_.advertise<std_msgs::Float64> ("debug/manipulability", 1);
         twist_current_pub_ = nh_.advertise<geometry_msgs::Twist> ("debug/twist_current", 1);
         twist_magnitude_pub_ = nh_.advertise<sensor_msgs::JointState> ("debug/twist_magnitude", 1);
@@ -178,12 +178,12 @@ class DebugEvaluateJointStates
 
 int main(int argc, char** argv)
 {
-    ros::init(argc, argv, "debug_evaluate_jointstates_node");
+    ros::init(argc, argv, "debug_fk_vel_recursive_node");
 
-    DebugEvaluateJointStates dejs;
-    if (dejs.init() != 0)
+    DebugFkVelRecursive dfvr;
+    if (dfvr.init() != 0)
     {
-        ROS_ERROR("Failed to initialize DebugEvaluateJointStates.");
+        ROS_ERROR("Failed to initialize DebugFkVelRecursive.");
         return -1;
     }