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naoqi-interface.l: enable to pass string as joint-name #1919

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naoqi-interface.l: enable to pass string as joint-name #1919

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6 changes: 5 additions & 1 deletion jsk_naoqi_robot/naoqieus/naoqi-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -141,13 +141,17 @@
(setq joint-name (list "LHand")))
(:rhand
(setq joint-name (list "RHand")))
(t
(setq joint-name joint)
(if (/= (length joint-name) (length stiffness))
(ros::ros-warn "length for 'joint' and 'sitffness' must be same")))
)
(send goal :goal :trajectory :joint_names joint-name)
(send goal :goal :trajectory :header :stamp (ros::time-now))
(send goal :goal :trajectory :points
(list (instance trajectory_msgs::JointTrajectoryPoint
:init
:positions (fill (instantiate float-vector (length joint-name)) stiffness)
:positions (if (numberp stiffness) (fill (instantiate float-vector (length joint-name)) stiffness) stiffness)
:time_from_start (ros::time 1))))
(send joint-stiffness-trajectory-action :send-goal goal)
))
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