Remove the UR namespace, use relative path to the rosparam, init the node with ~

Author: civerachb-cpr

robotiq_3f_gripper_control/launch/s_model.launch

@@ -3,8 +3,8 @@
 <launch>
   <arg name="ip_address" default="192.168.131.41" />
 
-  <node name="s_model" pkg="robotiq_3f_gripper_control" type="SModelTcpNode.py" ns="UR_1" respawn="true" output="screen">
-		<param name="s_model_ip" value="$(arg ip_address)" />
-	</node>
+  <node name="s_model" pkg="robotiq_3f_gripper_control" type="SModelTcpNode.py" respawn="true" output="screen">
+    <param name="ip_address" value="$(arg ip_address)" />
+  </node>
 
 </launch>

robotiq_3f_gripper_control/nodes/SModelTcpNode.py

@@ -51,9 +51,10 @@
 from robotiq_3f_gripper_msgs.msg import SModelRobotOutput as outputMsg
 
 def mainLoop():
+    rospy.init_node('~')
 
     print "Launching S-Model Gripper Control"
-    address = rospy.get_param('/s_model_ip', '192.168.1.19')
+    address = rospy.get_param('~ip_address', '192.168.1.19')
 
     #Gripper is a S-Model with a TCP connection
     gripper = robotiq_3f_gripper_control.baseSModel.robotiqBaseSModel()
@@ -62,8 +63,6 @@ def mainLoop():
     #We connect to the address received as an argument
     gripper.client.connectToDevice(address)
 
-    rospy.init_node('robotiqSModel')
-
     #The Gripper status is published on the topic named 'SModelRobotInput'
     pub = rospy.Publisher('SModelRobotInput', inputMsg, queue_size=1)