srdfFix.patch

From 566357bab3bfa8a9c266e9fd2bfe29401602caa2 Mon Sep 17 00:00:00 2001
From: Guillaume Walck <gwalck@techfak.uni-bielefeld.de>
Date: Wed, 9 Aug 2017 19:31:50 +0200
Subject: [PATCH] Modified the group of the arm end-effector to not be the arm
 itself

was invalid when getAttachedEndEffectorNames was called
---
 sr_multi_moveit/sr_multi_moveit_config/scripts/generate_robot_srdf.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sr_multi_moveit/sr_multi_moveit_config/scripts/generate_robot_srdf.py b/sr_multi_moveit/sr_multi_moveit_config/scripts/generate_robot_srdf.py
index e8fc772..48de0fb 100755
--- a/sr_multi_moveit/sr_multi_moveit_config/scripts/generate_robot_srdf.py
+++ b/sr_multi_moveit/sr_multi_moveit_config/scripts/generate_robot_srdf.py
@@ -400,7 +400,7 @@ class SRDFRobotGenerator(object):
                 elt.getAttributeNode("name").nodeValue = manipulator.arm.prefix + elt.getAttribute("name")
                 elt.getAttributeNode("parent_link").nodeValue = (manipulator.arm.prefix +
                                                                  elt.getAttribute("parent_link"))
-                elt.getAttributeNode("group").nodeValue = manipulator.arm.internal_name
+                elt.getAttributeNode("group").nodeValue = manipulator.hand.internal_name
                 elt.writexml(self.new_robot_srdf, indent="  ", addindent="  ", newl="\n")
                 newElement = deepcopy(elt)
                 newElement.getAttributeNode("name").nodeValue = manipulator.arm.internal_name + "_and_wrist_ee"
-- 
2.7.4