synch with ros 2 version

jhu-dvrk · Dec 29, 2023 · 07e5f15 · 07e5f15
1 parent d799ef2
commit 07e5f15
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/dvrk_arms_from_ros/components/src/dvrk_arm_from_ros.cpp b/dvrk_arms_from_ros/components/src/dvrk_arm_from_ros.cpp
@@ -5,7 +5,7 @@
   Author(s):  Anton Deguet
   Created on: 2020-01-13
 
-  (C) Copyright 2020-2022 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2020-2023 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -48,12 +48,12 @@ void dvrk_arm_from_ros::Init(void)
     populate_interface_provided(interface_provided,
                                 ros_namespace,
                                 // void commands
-                                Commands({"hold"}),
+                                Commands({"hold", "free"}),
                                 // write commands
-                                Commands({"state_command", "servo_cp"}),
+                                Commands({"state_command", "servo_cp", "servo_js"}),
                                 // read commands
                                 Commands({"operating_state", "period_statistics",
-                                          "setpoint_js", "measured_js", "setpoint_cp"}),
+                                          "setpoint_js", "measured_js", "setpoint_cp", "measured_cp"}),
                                 // write events
                                 Commands({"operating_state", "error", "warning", "status"}));
 }