Remove hardcoded joint prefix

Author: ggorjup

abb_hardware_interface/src/abb_hardware_interface.cpp

@@ -98,7 +98,7 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
 
     // Get robot controller description from RWS
     abb::robot::RWSManager rws_manager(rws_ip, rws_port, "Default User", "robotics");
-    robot_controller_description_ = abb::robot::utilities::establishRWSConnection(rws_manager, "IRB1200", true);
+    robot_controller_description_ = abb::robot::utilities::establishRWSConnection(rws_manager, "", true);
   }
   else
   {
@@ -216,14 +216,10 @@ std::vector<hardware_interface::StateInterface> ABBSystemHardware::export_state_
     {
       for (auto& joint : unit.joints)
       {
-        // TODO(seng): Consider changing joint names in robot description to match what comes
-        // from the ABB robot description to avoid needing to strip the prefix here
-        const auto pos = joint.name.find("joint");
-        const auto joint_name = joint.name.substr(pos);
         state_interfaces.emplace_back(
-            hardware_interface::StateInterface(joint_name, hardware_interface::HW_IF_POSITION, &joint.state.position));
+            hardware_interface::StateInterface(joint.name, hardware_interface::HW_IF_POSITION, &joint.state.position));
         state_interfaces.emplace_back(
-            hardware_interface::StateInterface(joint_name, hardware_interface::HW_IF_VELOCITY, &joint.state.velocity));
+            hardware_interface::StateInterface(joint.name, hardware_interface::HW_IF_VELOCITY, &joint.state.velocity));
       }
     }
   }
@@ -239,14 +235,10 @@ std::vector<hardware_interface::CommandInterface> ABBSystemHardware::export_comm
     {
       for (auto& joint : unit.joints)
       {
-        // TODO(seng): Consider changing joint names in robot description to match what comes
-        // from the ABB robot description to avoid needing to strip the prefix here
-        const auto pos = joint.name.find("joint");
-        const auto joint_name = joint.name.substr(pos);
         command_interfaces.emplace_back(hardware_interface::CommandInterface(
-            joint_name, hardware_interface::HW_IF_POSITION, &joint.command.position));
+            joint.name, hardware_interface::HW_IF_POSITION, &joint.command.position));
         command_interfaces.emplace_back(hardware_interface::CommandInterface(
-            joint_name, hardware_interface::HW_IF_VELOCITY, &joint.command.velocity));
+            joint.name, hardware_interface::HW_IF_VELOCITY, &joint.command.velocity));
       }
     }
   }