Add default zeros from other repo

joint_state_publisher/joint_state_publisher/joint_state_publisher

@@ -29,6 +29,8 @@ class JointStatePublisher():
         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
-