Stop re-publishing joint states #1
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No need to declare an intermediate property
... to hide them in the final URDF
... avoiding code duplication
... to clarify that this node requires the remapping.
The robotNamespace is conceptually different from arm_id. While the latter just acts as a name prefix for links and joints, the <robotNamespace> tag specifies the name of the ROS namespace, which is used for key robot components like the joint_states topic, the controller_manager, etc. To allow for an empty namespace, the default needs to be specified as empty. Otherwise, i.e. having a non-empty default, specifying ns:="" on the commandline will fall back to the default despite an (empty) value was provided.
By default, we don't start in a namespace to match the real-robot behavior. Unfortunately, we cannot just specify an empty ns="" in roslaunch, but we need to distinguish the two cases empty/non-empty namespace. To avoid code duplication, the relevant code was factored out into panda_ns.launch.xml, which is include w/ or w/o a namespace. The file-ending is deliberatively choosen as .launch.xml to hide the file from bash completion.
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LGTM. I was not aware of these performance issues. Thanks a lot for pointing that out. |
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The proposed approach has its drawbacks too:
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Re-publishing
joint_statesviajoint_state_publisher(a python app) is highly inefficient.IMO remapping would be the right way to go instead - as long nobody needs the published topics on the namespace
franka_state_controller/franka_gripper.Also, I dropped re-publishing
joint_states_desiredcompletely.@gollth and @rickstaa, what do you think?
As this is just a draft and builds on frankaemika#187, I filed the changes in my fork for now.