feat: Add joint mapping for six axis robot

which is needed for unambiguous assignment of the joint state values to the joints.
vorausrobotik · Oct 7, 2024 · d359f43 · d359f43
1 parent 8a6c163
commit d359f43
Showing 1 changed file with 16 additions and 2 deletions.
diff --git a/src/ros_message_creation.rs b/src/ros_message_creation.rs
@@ -18,7 +18,14 @@ pub fn create_joint_state_msg(
             stamp: create_time_msg(),
             frame_id: "base_link".to_string(),
         },
-        name: vec!["Joint States".to_string()],
+        name: vec![
+            "joint1".to_string(),
+            "joint2".to_string(),
+            "joint3".to_string(),
+            "joint4".to_string(),
+            "joint5".to_string(),
+            "joint6".to_string(),
+        ],
         position: positions.lock().unwrap().to_vec(),
         velocity: velocities.lock().unwrap().to_vec(),
         effort: efforts.lock().unwrap().to_vec(),
@@ -154,7 +161,14 @@ mod tests {
                 stamp: Time { sec: 1, nanosec: 2 },
                 frame_id: "base_link".to_string(),
             },
-            name: vec!["Joint States".to_string()],
+            name: vec![
+                "joint1".to_string(),
+                "joint2".to_string(),
+                "joint3".to_string(),
+                "joint4".to_string(),
+                "joint5".to_string(),
+                "joint6".to_string(),
+            ],
             position: vec![1.0, 2.0, 3.0, 4.0, 5.0, 6.0],
             velocity: vec![7.0, 8.0, 9.0, 10.0, 11.0, 12.0],
             effort: vec![13.0, 14.0, 15.0, 16.0, 17.0, 18.0],