Add prefix to wrench hw interface

[carebare47]

Adds a prefix to the wrench hw interface so that multiple arms can have their force torque sensors used at the same time

[fmauch]

I think, it would be better to either use the tf_prefix or use a parameter for the complete interface name.

[carebare47]

I think, it would be better to either use the tf_prefix or use a parameter for the complete interface name.

6e21e0d

[fmauch]

Do you think, it would make sense to read it from the root node handle, similar to joint_names, then we could configure this together with instanciating the controller in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/config/ur10_controllers.yaml#L21

In my opinion that would be preferable over introducing yet another launch file parameter.

[fmauch]

Also, once everything is in place, we should make sure that documentation is everywhere at the right places, e.g. here

[carebare47]

Do you think, it would make sense to read it from the root node handle, similar to joint_names, then we could configure this together with instanciating the controller in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/config/ur10_controllers.yaml#L21

In my opinion that would be preferable over introducing yet another launch file parameter.

I think that would cause us a similar problem to the one we have here: #110

[gavanderhoorn]

This doesn't appear to be setting a prefix any more, but it configures the actual frame_id value.

Suggestion: use wrench_frame_id as the name everywhere (ie: parameter name, local member variable, etc).

[carebare47]

This doesn't appear to be setting a prefix any more, but it configures the actual frame_id value.

Suggestion: use wrench_frame_id as the name everywhere (ie: parameter name, local member variable, etc).

That's nicer, thanks

[carebare47]

Also, once everything is in place, we should make sure that documentation is everywhere at the right places, e.g. here

91d31f5

[fmauch]

Looks good to me.