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添加dof_和joints_name校验 #109

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添加dof_和joints_name校验 #109

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6 changes: 6 additions & 0 deletions xarm_api/src/xarm_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,6 +204,12 @@ namespace xarm_api
joint_state_msg_.position.resize(dof_);
joint_state_msg_.velocity.resize(dof_, 0);
joint_state_msg_.effort.resize(dof_, 0);

if (dof_ != joint_names_.size()) {
ROS_FATAL("xarm_dof not equal with joint_name: [%d!=%lu]", dof_, joint_names_.size());
return;
}

for(int i = 0; i < dof_; i++)
{
joint_state_msg_.name[i] = joint_names_[i];
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