From 94e5eff58cee0e35316ae0915ffe3f7503f91fc3 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 6 Mar 2020 18:16:01 +0100
Subject: [PATCH] Added a new parameter to create the serial device name
(device_name).
---
src/dynamixel_robot_gazebo.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/dynamixel_robot_gazebo.cpp b/src/dynamixel_robot_gazebo.cpp
index 436f450..ebf54b3 100644
--- a/src/dynamixel_robot_gazebo.cpp
+++ b/src/dynamixel_robot_gazebo.cpp
@@ -112,7 +112,7 @@ namespace dynamixel_robot_gazebo
bool DynamixelRobotGazebo::init(hardware_interface::EffortJointInterface* hw,ros::NodeHandle& root_nh,ros::NodeHandle& controller_nh)
{
unsigned int n_joints;
- std::string device_name;
+ std::string device_name,name;
int return_delay=0,return_level=2,protocol=2,baudrate=1000000;
struct stat buffer;
@@ -149,7 +149,8 @@ namespace dynamixel_robot_gazebo
// initialize dynamixel slave server
ROS_INFO("Dynamixel gazebo plugin: Load dynamixel slave parameters");
ros::NodeHandle dynamixel_nh(this->controller_nh,std::string("dynamixel_bus"));
- device_name="/tmp"+root_nh.getNamespace()+"_gazebo";
+ dynamixel_nh.getParam("device_name",name);
+ device_name="/tmp/"+name+"_gazebo";
// wait until the serial device exists
unsigned int timeout=20;
do{
--
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