[Personalrobots-commit] SF.net SVN: personalrobots:[18352] pkg/trunk

[<is...@us...>]

Revision: 18352
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18352&view=rev
Author:   isucan
Date:     2009-07-06 22:41:13 +0000 (Mon, 06 Jul 2009)

Log Message:
-----------
update frame names

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/src/arm_cmd_line.cpp
    pkg/trunk/motion_planning/planning_environment/src/kinematic_model_state_monitor.cpp

Modified: pkg/trunk/highlevel/move_arm/src/arm_cmd_line.cpp
===================================================================
--- pkg/trunk/highlevel/move_arm/src/arm_cmd_line.cpp	2009-07-06 22:38:51 UTC (rev 18351)
+++ pkg/trunk/highlevel/move_arm/src/arm_cmd_line.cpp	2009-07-06 22:41:13 UTC (rev 18352)
@@ -96,7 +96,7 @@
     for (unsigned int i = 0 ; i < goal.goal_constraints.joint_constraint.size(); ++i)
     {
 	goal.goal_constraints.joint_constraint[i].header.stamp = ros::Time::now();
-	goal.goal_constraints.joint_constraint[i].header.frame_id = "base_link";
+	goal.goal_constraints.joint_constraint[i].header.frame_id = "/base_link";
 	goal.goal_constraints.joint_constraint[i].joint_name = names[i];
 	goal.goal_constraints.joint_constraint[i].value.resize(1);
 	goal.goal_constraints.joint_constraint[i].toleranceAbove.resize(1);
@@ -113,7 +113,7 @@
     goal.goal_constraints.pose_constraint[0].type = motion_planning_msgs::PoseConstraint::POSITION_XYZ + motion_planning_msgs::PoseConstraint::ORIENTATION_RPY;
     goal.goal_constraints.pose_constraint[0].link_name = link;
     goal.goal_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
-    goal.goal_constraints.pose_constraint[0].pose.header.frame_id = "base_link";
+    goal.goal_constraints.pose_constraint[0].pose.header.frame_id = "/base_link";
     goal.goal_constraints.pose_constraint[0].pose.pose.position.x = x;
     goal.goal_constraints.pose_constraint[0].pose.pose.position.y = y;	
     goal.goal_constraints.pose_constraint[0].pose.pose.position.z = z;	

Modified: pkg/trunk/motion_planning/planning_environment/src/kinematic_model_state_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/kinematic_model_state_monitor.cpp	2009-07-06 22:38:51 UTC (rev 18351)
+++ pkg/trunk/motion_planning/planning_environment/src/kinematic_model_state_monitor.cpp	2009-07-06 22:41:13 UTC (rev 18352)
@@ -64,7 +64,7 @@
 	    if (dynamic_cast<planning_models::KinematicModel::FloatingJoint*>(kmodel_->getRobot(0)->chain))
 		floatingJoint_ = kmodel_->getRobot(0)->chain->name;
 
-	    robot_frame_ = kmodel_->getRobot(0)->chain->after->name;
+	    robot_frame_ = "/" + kmodel_->getRobot(0)->chain->after->name;
 	    ROS_DEBUG("Robot frame is '%s'", robot_frame_.c_str());
 
 	    if (includePose_)


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