From c9a4ad5b929e1837bb4c8d7800ff5fe1873e9e41 Mon Sep 17 00:00:00 2001
From: Naoki-Hiraoka <hiraoka@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 9 Oct 2018 14:25:56 +0900
Subject: [PATCH] [hrpsys_ros_bridge/HrpsysSeqStateROSBridgeImpl.cpp]fix
 cop_link_info

---
 hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp b/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp
index c8d7596de..98093698f 100644
--- a/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp
+++ b/hrpsys_ros_bridge/src/HrpsysSeqStateROSBridgeImpl.cpp
@@ -344,7 +344,7 @@ RTC::ReturnCode_t HrpsysSeqStateROSBridgeImpl::onInitialize()
       }
       // Set cop_link_info
       COPLinkInfo ci;
-      ci.link_name = sensor_info[sensor_name].link_name; // Link name for tf frame
+      ci.link_name = ee_name + "_end_coords"; // Link name for tf frame
       ci.cop_offset_z = eep(2);
       cop_link_info.insert(std::pair<std::string, COPLinkInfo>(sensor_name, ci));
       std::cerr << "[" << m_profile.instance_name << "]   target = " << ci.link_name << ", sensor_name = " << sensor_name << std::endl;