fixed joint message iterating in state estimation

nicholaspalomo · Feb 1, 2021 · 802f5c8 · 802f5c8
1 parent f6dd1c0
commit 802f5c8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/champ_base/src/state_estimation.cpp b/champ_base/src/state_estimation.cpp
@@ -78,7 +78,7 @@ void StateEstimation::synchronized_callback_(const sensor_msgs::JointStateConstP
 
     float current_joint_positions[12];
 
-    for(size_t i = 0; i < 12; i++)
+    for(size_t i = 0; i < joints_msg->name.size(); i++)
     {
         std::vector<std::string>::iterator itr = std::find(joint_names_.begin(), joint_names_.end(), joints_msg->name[i]);