{"action":"created","issue":{"url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/39","labels_url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/39/labels{/name}","comments_url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/39/comments","events_url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/39/events","html_url":"https://github.com/shadow-robot/sr-ros-interface-ethercat/pull/39","id":41918039,"number":39,"title":"Adding a tactile state publisher","user":{"login":"ugocupcic","id":557182,"avatar_url":"https://avatars.githubusercontent.com/u/557182?v=3","gravatar_id":"","url":"https://api.github.com/users/ugocupcic","html_url":"https://github.com/ugocupcic","followers_url":"https://api.github.com/users/ugocupcic/followers","following_url":"https://api.github.com/users/ugocupcic/following{/other_user}","gists_url":"https://api.github.com/users/ugocupcic/gists{/gist_id}","starred_url":"https://api.github.com/users/ugocupcic/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ugocupcic/subscriptions","organizations_url":"https://api.github.com/users/ugocupcic/orgs","repos_url":"https://api.github.com/users/ugocupcic/repos","events_url":"https://api.github.com/users/ugocupcic/events{/privacy}","received_events_url":"https://api.github.com/users/ugocupcic/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/labels/Backlog","name":"Backlog","color":"ededed"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":10,"created_at":"2014-09-04T10:11:20Z","updated_at":"2015-03-03T10:42:17Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/pulls/39","html_url":"https://github.com/shadow-robot/sr-ros-interface-ethercat/pull/39","diff_url":"https://github.com/shadow-robot/sr-ros-interface-ethercat/pull/39.diff","patch_url":"https://github.com/shadow-robot/sr-ros-interface-ethercat/pull/39.patch"},"body":"@guihomework You'd set the environment variable UBI_HAND=1 to have your controller spawned directly for you hand, I hope this is OK. Also if you have an idea for issue #38 that'd make the code cleaner (we can then get rid of the whole publish method for the tactiles in the drivers)\r\n\r\n**NOT** tested on the hardware. Test before merge (at least on PST hand, @guihomework it'd be great if you had time to test this on your UBI setup too - should work out of the box for left / right hand hopefully)."},"comment":{"url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/comments/76923206","html_url":"https://github.com/shadow-robot/sr-ros-interface-ethercat/pull/39#issuecomment-76923206","issue_url":"https://api.github.com/repos/shadow-robot/sr-ros-interface-ethercat/issues/39","id":76923206,"user":{"login":"guihomework","id":6583181,"avatar_url":"https://avatars.githubusercontent.com/u/6583181?v=3","gravatar_id":"","url":"https://api.github.com/users/guihomework","html_url":"https://github.com/guihomework","followers_url":"https://api.github.com/users/guihomework/followers","following_url":"https://api.github.com/users/guihomework/following{/other_user}","gists_url":"https://api.github.com/users/guihomework/gists{/gist_id}","starred_url":"https://api.github.com/users/guihomework/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/guihomework/subscriptions","organizations_url":"https://api.github.com/users/guihomework/orgs","repos_url":"https://api.github.com/users/guihomework/repos","events_url":"https://api.github.com/users/guihomework/events{/privacy}","received_events_url":"https://api.github.com/users/guihomework/received_events","type":"User","site_admin":false},"created_at":"2015-03-03T10:42:17Z","updated_at":"2015-03-03T10:42:17Z","body":"If I may give an answer before @toliver, the bimanual launch file does not spawn tactile controllers yet because it was developed for the trunk and not for this branch. As far as I understood, the single loop has one large set of actuators in the robotstate but each hand instantiates its own driver which fills only its part of the set of actuators. Because the tactile data is currently copied in each actuator on driver update call, it means the sr_tactile_controllers should handle the fact that there are two hands by creating as many publishers as there are hands, accessing the data from the first of the correct bunch of actuators. \r\n\r\nIt is feasible, but does not look right. There should be one tactile structure in the robot_state to store tactile data, and a way to access them cleanly. This would also fix the palm_publisher stuff\r\n\r\nAs a quick fix, I will see if I can handle the actuator parsing to find out all instances of *FFJ0 and use the prefix as distinction of one or more hands and publish the tactile topic accordingly. My fix currently takes the first actuator available only."}}