From bd69b6150c6dce343137d97c5e65d764f7e57784 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 25 Oct 2021 22:33:00 +0200
Subject: [PATCH] Move `remap from=equilibrium_pose` to the
 `interactive_marker.py` node

... to clarify that this node requires the remapping.
---
 franka_gazebo/launch/panda.launch | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index 9226b13f..39b28743 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -76,8 +76,6 @@
           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>
@@ -95,6 +93,7 @@
           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>