From 74dcd6a6f2e4843d59e63bb76cc74720f8c199c7 Mon Sep 17 00:00:00 2001 From: David Lu!! Date: Mon, 25 Mar 2013 18:46:55 -0700 Subject: [PATCH] Add default zeros from other repo --- .../joint_state_publisher/joint_state_publisher | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/joint_state_publisher/joint_state_publisher/joint_state_publisher b/joint_state_publisher/joint_state_publisher/joint_state_publisher index 67d1c86..d2b69c2 100755 --- a/joint_state_publisher/joint_state_publisher/joint_state_publisher +++ b/joint_state_publisher/joint_state_publisher/joint_state_publisher @@ -28,7 +28,9 @@ class JointStatePublisher(): self.dependent_joints = get_param("dependent_joints", {}) use_mimic = get_param('use_mimic_tags', True) use_small = get_param('use_smallest_joint_limits', True) - + + self.zeros = get_param("zeros") + pub_def_positions = get_param("publish_default_positions", True) pub_def_vels = get_param("publish_default_velocities", False) pub_def_efforts = get_param("publish_default_efforts", False) @@ -73,7 +75,10 @@ class JointStatePublisher(): if name in self.dependent_joints: continue - if minval > 0 or maxval < 0: + + if self.zeros and name in self.zeros: + zeroval = self.zeros[name] + elif minval > 0 or maxval < 0: zeroval = (maxval + minval)/2 else: zeroval = 0 @@ -318,4 +323,3 @@ if __name__ == '__main__': jsp.app.MainLoop() except rospy.ROSInterruptException: pass -