Spread angle not update in bhand_node

[RolandZhu]

Hello,

I'm trying to use the python wrapper of the bhand_controller, everything went smooth except I cannot retrieve the spread angle from the ROS topic /joint_state (it is 0).

I checked bhand_node.py and pyHand_api.py. When the API process the message through process_can_messages, it seems the read message never has SPREAD_POSITION, which will retrieve the spread angle. I added a send_msg to force a send of SPREAD_POSITION and has no luck. The same function could work for finger 1-3.

Any idea how I could fix this issue? Thanks a lot!