[hrpsys_ros_bridge/HrpsysSeqStateROSBridgeImpl.cpp]fix cop_link_info

Naoki-Hiraoka · Naoki-Hiraoka · commit c9a4ad5b929e · 2018-10-10T21:42:30.000+09:00
diff --git a/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp b/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp
@@ -344,7 +344,7 @@ RTC::ReturnCode_t HrpsysSeqStateROSBridgeImpl::onInitialize()
       }
       // Set cop_link_info
       COPLinkInfo ci;
-      ci.link_name = sensor_info[sensor_name].link_name; // Link name for tf frame
+      ci.link_name = ee_name + "_end_coords"; // Link name for tf frame
       ci.cop_offset_z = eep(2);
       cop_link_info.insert(std::pair<std::string, COPLinkInfo>(sensor_name, ci));
       std::cerr << "[" << m_profile.instance_name << "]   target = " << ci.link_name << ", sensor_name = " << sensor_name << std::endl;

Original file line number	Diff line number	Diff line change
`@@ -344,7 +344,7 @@ RTC::ReturnCode_t HrpsysSeqStateROSBridgeImpl::onInitialize()`
`344`	`344`	`}`
`345`	`345`	`// Set cop_link_info`
`346`	`346`	`COPLinkInfo ci;`
`347`		`- ci.link_name = sensor_info[sensor_name].link_name; // Link name for tf frame`
	`347`	`+ ci.link_name = ee_name + "_end_coords"; // Link name for tf frame`
`348`	`348`	`ci.cop_offset_z = eep(2);`
`349`	`349`	`cop_link_info.insert(std::pair<std::string, COPLinkInfo>(sensor_name, ci));`
`350`	`350`	`std::cerr << "[" << m_profile.instance_name << "] target = " << ci.link_name << ", sensor_name = " << sensor_name << std::endl;`