Use Robot_hw_nh node handle for joints. (UniversalRobots#227)

modified hardware interface to look for joints parameter under the robot_hw node handle

Author: CollinAvidano

ur_robot_driver/config/ur10_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/config/ur10e_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/config/ur3_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/config/ur3e_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/config/ur5_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/config/ur5e_controllers.yaml

@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

ur_robot_driver/src/ros/hardware_interface.cpp

@@ -284,9 +284,9 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
 
   // Names of the joints. Usually, this is given in the controller config file.
-  if (!root_nh.getParam("hardware_interface/joints", joint_names_))
+  if (!robot_hw_nh.getParam("joints", joint_names_))
   {
-    ROS_ERROR_STREAM("Cannot find required parameter " << root_nh.resolveName("hardware_interface/joints")
+    ROS_ERROR_STREAM("Cannot find required parameter " << robot_hw_nh.resolveName("joints")
                                                        << " on the parameter server.");
     throw std::runtime_error("Cannot find required parameter "
                              "'controller_joint_names' on the parameter server.");