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Drop re-publishing of joint_states_desired #191

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merged 1 commit into from
Feb 16, 2022
Merged

Drop re-publishing of joint_states_desired #191

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6 changes: 0 additions & 6 deletions franka_control/launch/franka_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,4 @@
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
<param name="rate" value="30"/>
<remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
5 changes: 0 additions & 5 deletions franka_gazebo/launch/panda.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -80,11 +80,6 @@
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
<remap from="joint_states" to="joint_states_desired" />
</node>

<!-- Start only if cartesian_impedance_example_controller -->
<node name="interactive_marker"
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