[hironx_tutorial/hironxjsk_real.launch]publish real hand joint state #620
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Previously the states of hand joint were published as dummy angles using hand_joint_state_publisher.py and do not follow the real state.
In this PR,
hand-joint-state-publisher.lpublishes the real hand-joint states. The real states are published if you setpublish_real_hand_joint_stateto true in a launch file. Thereal_hand_joint_state_ratesets the publish rate.The actual angles followed are shown below. In this experiment, the actual robot is taking the
start-grasppose.(before)The hand displayed in rviz does not reflect the actual angle, but always displays the angle published in dummy.
(after)The hand displayed in rviz now reflects the actual angle.
