From 169340779fcd43d237bda81e876389a48bcb0d15 Mon Sep 17 00:00:00 2001
From: Aslak Os <aslak@nlink.no>
Date: Fri, 7 Jan 2022 11:58:45 +0100
Subject: [PATCH 1/3] Adding an argument to offer the user to not start rviz on
 launch

---
 dsr_description/launch/m1013.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/dsr_description/launch/m1013.launch b/dsr_description/launch/m1013.launch
index 32bd9ade..ce5aeafc 100755
--- a/dsr_description/launch/m1013.launch
+++ b/dsr_description/launch/m1013.launch
@@ -8,6 +8,7 @@
     <arg name="remap"   default="False"/>
     <arg name="color"   default="white"/>
     <arg name="gripper" default="none"/>
+    <arg name="rviz"    default="True"/>
 
     <param name="robot_description" command="$(find xacro)/xacro '$(find dsr_description)/xacro/$(arg model).urdf.xacro' '--inorder' 'namespace:=$(arg ns)' color:=$(arg color) gripper:=$(arg gripper)"/>
 .
@@ -29,5 +30,5 @@
     </group>
 
     <!-- Show in Rviz -->
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find dsr_description)/rviz/default.rviz"/>
+    <node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find dsr_description)/rviz/default.rviz"/>
 </launch>

From 469e42083fc621e9a02e94f77d12b67c7c5e6bdc Mon Sep 17 00:00:00 2001
From: Aslak Os <aslak@nlink.no>
Date: Mon, 21 Feb 2022 13:23:58 +0100
Subject: [PATCH 2/3] Remove a node that published to joint_states

---
 dsr_description/launch/m1013.launch | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/dsr_description/launch/m1013.launch b/dsr_description/launch/m1013.launch
index ce5aeafc..3ef52978 100755
--- a/dsr_description/launch/m1013.launch
+++ b/dsr_description/launch/m1013.launch
@@ -9,6 +9,7 @@
     <arg name="color"   default="white"/>
     <arg name="gripper" default="none"/>
     <arg name="rviz"    default="True"/>
+    
 
     <param name="robot_description" command="$(find xacro)/xacro '$(find dsr_description)/xacro/$(arg model).urdf.xacro' '--inorder' 'namespace:=$(arg ns)' color:=$(arg color) gripper:=$(arg gripper)"/>
 .
@@ -18,9 +19,9 @@
         </node>
 
         <!-- Send joint values -->
-        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-        <param name="/use_gui" value="true"/>
-        </node>
+        <!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+            <param name="/use_gui" value="$(arg gui)"/>
+        </node-->
     </group>
 
     <group if="$(eval arg('remap') == True)">

From bb2ec0a29ba29b35281c0ce61f89188d0298eb5f Mon Sep 17 00:00:00 2001
From: Aslak Os <aslak@nlink.no>
Date: Thu, 12 May 2022 12:38:20 +0200
Subject: [PATCH 3/3] Changed to use a global publisher initalized by the hw
 interface.

---
 dsr_control/src/dsr_hw_interface.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/dsr_control/src/dsr_hw_interface.cpp b/dsr_control/src/dsr_hw_interface.cpp
index 75c35547..e5ce49c9 100755
--- a/dsr_control/src/dsr_hw_interface.cpp
+++ b/dsr_control/src/dsr_hw_interface.cpp
@@ -24,6 +24,7 @@ DR_ERROR    g_stDrError;
 
 int g_nAnalogOutputModeCh1;
 int g_nAnalogOutputModeCh2;
+ros::Publisher PubRobotError;
 
 
 #define STABLE_BAND_JNT     0.05
@@ -396,8 +397,7 @@ namespace dsr_control{
     void DRHWInterface::OnLogAlarm(LPLOG_ALARM pLogAlarm)
     {
         //This function is called when an error occurs.
-        ros::NodeHandlePtr node=boost::make_shared<ros::NodeHandle>();
-        ros::Publisher PubRobotError=node->advertise<dsr_msgs::RobotError>("error",100);
+        
         dsr_msgs::RobotError msg;
 
         switch(pLogAlarm->_iLevel)
@@ -882,6 +882,7 @@ namespace dsr_control{
 
     bool DRHWInterface::init()
     {
+        PubRobotError = private_nh_.advertise<dsr_msgs::RobotError>("error",1);
         ROS_INFO("[dsr_hw_interface] init() ==> setup callback fucntion");
         int nServerPort = 12345;
         ROS_INFO("INIT@@@@@@@@@@@@@@@@@@@@@@@@@");