Move remap from=equilibrium_pose to the interactive_marker.py node

... to clarify that this node requires the remapping.
frankaemika · Oct 27, 2021 · 4dce4fd · 4dce4fd
1 parent a9f5607
commit 4dce4fd
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
@@ -71,8 +71,6 @@
           args="franka_state_controller $(arg controller)"
     />
 
-    <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
-
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
     <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
       <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
@@ -90,6 +88,7 @@
           type="interactive_marker.py"
           if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">
       <param name="link_name" value="$(arg arm_id)_link0" />
+      <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
     </node>
 
   </group>