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kdl_parser
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Add Small Joint Flag

This commit is contained in:
David Lu!! 2013-02-21 16:43:12 -08:00
parent 36e7861b3a
commit c7625616c1
1 changed files with 9 additions and 0 deletions
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9
visualization/joint_state_publisher/joint_state_publisher
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@ -27,6 +27,7 @@ class JointStatePublisher():
self.joint_list = [] # for maintaining the original order of the joints self.joint_list = [] # for maintaining the original order of the joints
self.dependent_joints = get_param("dependent_joints", {}) self.dependent_joints = get_param("dependent_joints", {})
use_mimic = get_param('use_mimic_tags', True) use_mimic = get_param('use_mimic_tags', True)
use_small = get_param('use_smallest_joint_limits', True)
pub_def_positions = get_param("publish_default_positions", True) pub_def_positions = get_param("publish_default_positions", True)
pub_def_vels = get_param("publish_default_velocities", False) pub_def_vels = get_param("publish_default_velocities", False)
@ -50,6 +51,14 @@ class JointStatePublisher():
minval = float(limit.getAttribute('lower')) minval = float(limit.getAttribute('lower'))
maxval = float(limit.getAttribute('upper')) maxval = float(limit.getAttribute('upper'))
safety_tags = child.getElementsByTagName('safety_controller')
if use_small and len(safety_tags)==1:
tag = safety_tags[0]
if tag.hasAttribute('soft_lower_limit'):
minval = max(minval, float(tag.getAttribute('soft_lower_limit')))
if tag.hasAttribute('soft_upper_limit'):
maxval = min(maxval, float(tag.getAttribute('soft_upper_limit')))
mimic_tags = child.getElementsByTagName('mimic') mimic_tags = child.getElementsByTagName('mimic')
if use_mimic and len(mimic_tags)==1: if use_mimic and len(mimic_tags)==1:
tag = mimic_tags[0] tag = mimic_tags[0]