From 5532bde88ca93161847163161d95c8df87e77ea5 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Tue, 12 Apr 2016 20:32:57 +0200
Subject: [PATCH] fix ros package version + fix jrl_map ros_param
---
package.xml | 2 +-
src/robot_model.cpp | 24 +-----------------------
src/sot_loader.cpp | 2 --
3 files changed, 2 insertions(+), 26 deletions(-)
diff --git a/package.xml b/package.xml
index 6174c77..a7d9331 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
<package>
<name>dynamic_graph_bridge</name>
- <version>2.0.0</version>
+ <version>3.0.0</version>
<description>
ROS bindings for dynamic graph.
diff --git a/src/robot_model.cpp b/src/robot_model.cpp
index e4afa19..b183bc3 100644
--- a/src/robot_model.cpp
+++ b/src/robot_model.cpp
@@ -77,7 +77,7 @@ void RosRobotModel::loadUrdf (const std::string& filename)
XmlRpc::XmlRpcValue JointsNamesByRank_;
JointsNamesByRank_.setSize(m_model.names.size());
- std::vector<std::string>::const_iterator it = m_model.names.begin();
+ std::vector<std::string>::const_iterator it = m_model.names.begin()+1; //the first name is universe
for (int i=0;it!=m_model.names.end();++it, ++i) JointsNamesByRank_[i]= (*it);
nh.setParam(jointsParameterName_, JointsNamesByRank_);
}
@@ -123,29 +123,7 @@ void RosRobotModel::loadFromParameterServer()
for (int i=0;it!=m_model.names.end();++it, ++i) JointsNamesByRank_[i]= (*it);
nh.setParam(jointsParameterName_, JointsNamesByRank_);
}
- /*
-namespace
-{
-
-vectorN convertVector(const ml::Vector& v)
-{
- vectorN res (v.size());
- for (unsigned i = 0; i < v.size(); ++i)
- res[i] = v(i);
- return res;
-}
-
-ml::Vector convertVector(const vectorN& v)
-{
- ml::Vector res;
- res.resize((unsigned int)v.size());
- for (unsigned i = 0; i < v.size(); ++i)
- res(i) = v[i];
- return res;
-}
-} // end of anonymous namespace.
-*/
Vector RosRobotModel::curConf() const
{
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 96cf677..3d0661d 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -221,7 +221,6 @@ SotLoader::readControl(map<string,dgs::ControlValues> &controlValues)
<< std::endl;
exit(-1);
}
-
// Publish the data.
joint_state_.header.stamp = ros::Time::now();
for(int i=0;i<nbOfJoints_;i++)
@@ -235,7 +234,6 @@ SotLoader::readControl(map<string,dgs::ControlValues> &controlValues)
}
joint_pub_.publish(joint_state_);
-
}
--
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