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change deprecated state_publisher to robot_state_publisher #26

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change deprecated state_publisher to robot_state_publisher #26

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2d496dd
change deprecated state_publisher to robot_state_publisher
StanleyYake Nov 25, 2015
94aa136
Merge pull request #1 from StanleyYake/StanleyYake-patch-1
StanleyYake Nov 25, 2015
5551658
Update youbot_joint_state_publisher.launch
StanleyYake Nov 28, 2015
cae9244
Delete useless ros::spinOnce on two lines
StanleyYake Jan 20, 2016
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4 changes: 2 additions & 2 deletions youbot_drivers/youbot_oodl/launch/youbot_joint_state_publisher.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<!-- remap from="joint_states" to="youbot_state"/> -->

<!-- start robot_state_publisher assuming /joint_states is the default topic -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>

<!-- start robot_state_publisher assuming /joint_states is not the default topic and the drivers default topics are used -->
<!--
Expand All @@ -19,4 +19,4 @@
</node>
-->

</launch>
</launch>
2 changes: 0 additions & 2 deletions youbot_manipulation/simple_trajectory_controller/src/youbot_trajectory_controller.cpp
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Expand Up @@ -116,13 +116,11 @@ int main(int argc, char **argv) {
command.positions = armJointPositions;

armPositionsPublisher = n.advertise<brics_actuator::JointPositions > ("arm_1/arm_controller/position_command", 1);
ros::spinOnce();

ros::Subscriber armTrajectory;
armTrajectory = n.subscribe("/arm_controller/follow_joint_trajectory/goal", 1, trajectoryCallback);

ros::Duration(1).sleep();
ros::spinOnce();

moveToInitPos(command);
//ros::Duration(10).sleep();
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