Added namespace to node name to avoid duplicates

LauraConnolly · Aug 27, 2024 · 1cf59b4 · 1cf59b4
1 parent e9953a3
commit 1cf59b4
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/ros_modules/ambf_client/python/ambf_client/ambf_rigid_body.py b/ros_modules/ambf_client/python/ambf_client/ambf_rigid_body.py
@@ -662,9 +662,9 @@ def _clear_command(self):
         :return:
         """
         # self._cmd.cartesian_cmd_type = RigidBodyCmd.TYPE_FORCE
-        self._cmd.wrench.force.x = 0
-        self._cmd.wrench.force.y = 0
-        self._cmd.wrench.force.z = 0
-        self._cmd.wrench.torque.x = 0
-        self._cmd.wrench.torque.y = 0
-        self._cmd.wrench.torque.z = 0
+        self._cmd.wrench.force.x = 0.0
+        self._cmd.wrench.force.y = 0.0
+        self._cmd.wrench.force.z = 0.0
+        self._cmd.wrench.torque.x = 0.0
+        self._cmd.wrench.torque.y = 0.0
+        self._cmd.wrench.torque.z = 0.0
diff --git a/ros_modules/ambf_server/src/RosComBase.cpp b/ros_modules/ambf_server/src/RosComBase.cpp
@@ -71,7 +71,7 @@ RosComBase<T_state, T_cmd>::RosComBase(std::string a_name, std::string a_namespa
 
     m_freq_min = a_freq_min;
     m_freq_max = a_freq_max;
-    m_nodePtr = afROSNode::getNodeAndRegister(a_name);
+    m_nodePtr = afROSNode::getNodeAndRegister(a_namespace + "_" + a_name);
 #if ROS1
     m_nodePtr->setCallbackQueue(&m_custom_queue);
 #endif