From 2faa2e384ea45aaecb054d42283f93864643c903 Mon Sep 17 00:00:00 2001
From: ridhwanluthra <ridhwancode@gmail.com>
Date: Wed, 11 Jul 2018 15:44:32 +0530
Subject: [PATCH 1/2] raising error and not using default joint names.
 ref-issue #180

---
 industrial_utils/src/param_utils.cpp | 18 +++++++-----------
 1 file changed, 7 insertions(+), 11 deletions(-)

diff --git a/industrial_utils/src/param_utils.cpp b/industrial_utils/src/param_utils.cpp
index 6e15546a..d0a5006b 100644
--- a/industrial_utils/src/param_utils.cpp
+++ b/industrial_utils/src/param_utils.cpp
@@ -119,17 +119,13 @@ 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(
+      "Unable to find user-specified joint names in '"
+      << joint_list_param << "'. Also, unable to find URDF joint names in '"
+      << urdf_param
+      << "'. Must specify joint names.");
+  return false;
 }
 
 bool getJointVelocityLimits(const std::string urdf_param_name, std::map<std::string, double> &velocity_limits)

From 9677605f57937e7d04561788dec1f107a3c31a65 Mon Sep 17 00:00:00 2001
From: "G.A. vd. Hoorn" <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 31 Jul 2018 22:06:51 +0200
Subject: [PATCH 2/2] Reword error displayed when joints cannot be found.

---
 industrial_utils/src/param_utils.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/industrial_utils/src/param_utils.cpp b/industrial_utils/src/param_utils.cpp
index d0a5006b..a8c131d3 100644
--- a/industrial_utils/src/param_utils.cpp
+++ b/industrial_utils/src/param_utils.cpp
@@ -121,10 +121,8 @@ bool getJointNames(const std::string joint_list_param, const std::string urdf_pa
 
   // 3) Raise an error
   ROS_ERROR_STREAM(
-      "Unable to find user-specified joint names in '"
-      << joint_list_param << "'. Also, unable to find URDF joint names in '"
-      << urdf_param
-      << "'. Must specify joint names.");
+      "Cannot find user-specified joint names. Tried ROS parameter '" << joint_list_param << "'"
+      << " and the URDF in '" << urdf_param << "'.");
   return false;
 }