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Add tf_prefix parameter for hardware interface #14

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Add tf_prefix parameter for hardware interface #14

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2 changes: 2 additions & 0 deletions husky_base/include/husky_base/husky_hardware.h
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class HuskyHardware :

double polling_timeout_;

std::string tf_prefix_;

/**
* Joint structure that is hooked to ros_control's InterfaceManager, to allow control via diff_drive_controller
*/
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5 changes: 3 additions & 2 deletions husky_base/src/husky_hardware.cpp
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Expand Up @@ -58,6 +58,7 @@ namespace husky_base
private_nh_.param<double>("max_accel", max_accel_, 5.0);
private_nh_.param<double>("max_speed", max_speed_, 1.0);
private_nh_.param<double>("polling_timeout_", polling_timeout_, 10.0);
private_nh_.param<std::string>("tf_prefix", tf_prefix_, "");

std::string port;
private_nh_.param<std::string>("port", port, "/dev/prolific");
Expand Down Expand Up @@ -113,8 +114,8 @@ namespace husky_base
*/
void HuskyHardware::registerControlInterfaces()
{
ros::V_string joint_names = boost::assign::list_of("front_left_wheel")
("front_right_wheel")("rear_left_wheel")("rear_right_wheel");
ros::V_string joint_names = boost::assign::list_of(tf_prefix_ + "front_left_wheel")
(tf_prefix_ + "front_right_wheel")(tf_prefix_ + "rear_left_wheel")(tf_prefix_ + "rear_right_wheel");
for (unsigned int i = 0; i < joint_names.size(); i++)
{
hardware_interface::JointStateHandle joint_state_handle(joint_names[i],
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