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compare joint names, reject joint_state updates with differing names #506

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compare joint names, reject joint_state updates with differing names #506

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18 changes: 17 additions & 1 deletion motoman_driver/src/industrial_robot_client/joint_trajectory_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -518,7 +518,6 @@ bool JointTrajectoryInterface::calc_velocity(const motoman_msgs::DynamicJointsGr
return true;
}

robot_groups_[pt.group_number].get_joint_names();
for (size_t i = 0; i < robot_groups_[pt.group_number].get_joint_names().size(); ++i)
{
const std::string &jnt_name = robot_groups_[pt.group_number].get_joint_names()[i];
Expand Down Expand Up @@ -727,12 +726,29 @@ bool JointTrajectoryInterface::is_valid(const motoman_msgs::DynamicJointTrajecto
void JointTrajectoryInterface::jointStateCB(
const sensor_msgs::JointStateConstPtr &msg)
{
if (msg->name.size() != this->all_joint_names_.size())
return;

// compare all names, reject message if a name is not in both lists
for (size_t i=0; i < msg->name.size(); i++)
if (std::find(msg->name.begin(), msg->name.end(), this->all_joint_names_[i]) == msg->name.end())
return;

this->cur_joint_pos_ = *msg;
}

void JointTrajectoryInterface::jointStateCB(
const sensor_msgs::JointStateConstPtr &msg, int robot_id)
{
if (msg->name.size() != this->robot_groups_[robot_id].get_joint_names().size())
return;

// compare all names, reject message if a name is not in both lists
for (size_t i=0; i < msg->name.size(); i++)
if (std::find(msg->name.begin(), msg->name.end(), this->robot_groups_[robot_id].get_joint_names()[i])
== msg->name.end())
return;

this->cur_joint_pos_map_[robot_id] = *msg;
}

Expand Down