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refactor(franka_gazebo): remove FrankaHWSim robot namespace warning #366

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refactor(franka_gazebo): remove FrankaHWSim robot namespace warning #366

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
* `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
* `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
* `franka_gazebo`: Add `set_franka_model_configuration` service.
* `franka_gazebo`: remove FrankaHWSim robot namespace warning

## 0.10.1 - 2022-09-15

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14 changes: 7 additions & 7 deletions franka_gazebo/src/franka_hw_sim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,14 @@ bool FrankaHWSim::initSim(const std::string& robot_namespace,
gazebo::physics::ModelPtr parent,
const urdf::Model* const urdf,
std::vector<transmission_interface::TransmissionInfo> transmissions) {
model_nh.param<std::string>("arm_id", this->arm_id_, robot_namespace);
if (this->arm_id_ != robot_namespace) {
ROS_WARN_STREAM_NAMED(
"franka_hw_sim",
"Caution: Robot names differ! Read 'arm_id: "
<< this->arm_id_ << "' from parameter server but URDF defines '<robotNamespace>"
<< robot_namespace << "</robotNamespace>'. Will use '" << this->arm_id_ << "'!");
// Try to get the arm_id from the robot_namespace otherwise use the model name.
if (!model_nh.hasParam("arm_id")) {
ROS_WARN_STREAM_NAMED("franka_hw_sim", "No 'arm_id' found on '" << model_nh.getNamespace()
<< "' parameter namespace."
<< " Using model name instead ("
<< parent->GetName() << ").");
}
model_nh.param<std::string>("arm_id", this->arm_id_, parent->GetName());

this->robot_ = parent;
this->robot_initialized_ = false;
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