JointPositionController can now load the robot_description from root_node_handle ns

[shisha101]

Please refer to Issue #256

[graiola]

Hello,
I think this could be a possible solution to issue #244 but as it's implemented it would break the interface.
A fix would be to use an overloaded method or a method with default argument.

@bmagyar what do you think?

[bmagyar]

Good point. I think we have to also organise the effort of supporting non-global robot_description parameters in all of ros_controllers including a list of todos, extra tests to keep this feature in place and guidelines for people implementing new controllers to make sure they have this feature too.

[bmagyar]

@shisha101 please make sure that your changes are API and ABI compatible with the current version as we cannot break these in Indigo.

[shisha101]

Will do. I'll post back when it's ready.

[bmagyar]

Hello,

I believe we should push this support through the same way (&same code) as it was done on #245. We ros/robot_model#193 will allow for that.

As such I'm closing this PR.

[shisha101]

Looks good, thanks for the heads up :)

[emekBaris]

@bmagyar, this feature is missing in melodic-devel.