Remove suffix for state interfaces as it confuses robot_state_publisher by default.

livanov93 · livanov93 · commit 9bbb8749ce4a · 2023-03-24T15:16:20.000+01:00
diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
@@ -432,8 +432,6 @@ bool IgnitionSystem::initSim(
         "Joint '" << joint_name << "'is mimicking joint '" << mimicked_joint << "' with mutiplier: "
                   << mimic_joint.multiplier);
       this->dataPtr->mimic_joints_.push_back(mimic_joint);
-      // TODO (livanov93): add parameter if suffix is used or not
-      // suffix = "_mimic";
     }
 
     RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");

Original file line number	Diff line number	Diff line change
`@@ -432,8 +432,6 @@ bool IgnitionSystem::initSim(`
`432`	`432`	`"Joint '" << joint_name << "'is mimicking joint '" << mimicked_joint << "' with mutiplier: "`
`433`	`433`	`<< mimic_joint.multiplier);`
`434`	`434`	`this->dataPtr->mimic_joints_.push_back(mimic_joint);`
`435`		`- // TODO (livanov93): add parameter if suffix is used or not`
`436`		`- // suffix = "_mimic";`
`437`	`435`	`}`
`438`	`436`
`439`	`437`	`RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");`