Merge branch 'kinetic-devel' into patch-1

industrial_utils/src/param_utils.cpp

@@ -119,17 +119,11 @@ bool getJointNames(const std::string joint_list_param, const std::string urdf_pa
   else
     ROS_WARN_STREAM("Unable to find URDF joint names in '" << urdf_param << "'");
 
-  // 3) Use default joint-names
-  const int NUM_JOINTS = 6;  //Most robots have 6 joints
-  for (int i=0; i<NUM_JOINTS; ++i)
-  {
-    std::stringstream tmp;
-    tmp << "joint_" << i+1;
-    joint_names.push_back(tmp.str());
-  }
-
-  ROS_INFO_STREAM("Using standard 6-DOF joint names: " << vec2str(joint_names));
-  return true;
+  // 3) Raise an error
+  ROS_ERROR_STREAM(
+      "Cannot find user-specified joint names. Tried ROS parameter '" << joint_list_param << "'"
+      << " and the URDF in '" << urdf_param << "'.");
+  return false;
 }
 
 bool getJointVelocityLimits(const std::string urdf_param_name, std::map<std::string, double> &velocity_limits)