From 5c7efa26400f20148336ab214544e56b603cab6c Mon Sep 17 00:00:00 2001
From: Brett Hemes <brhemes@mmm.com>
Date: Thu, 12 Jul 2018 09:56:14 -0500
Subject: [PATCH] remap ROS-I topic relative to node's namespace to allow
 namespacing of eki_hw_iface

---
 .../launch/robot_interface_streaming.launch                 | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/kuka_eki_hw_interface/launch/robot_interface_streaming.launch b/kuka_eki_hw_interface/launch/robot_interface_streaming.launch
index bf6247d69..b857c32f9 100644
--- a/kuka_eki_hw_interface/launch/robot_interface_streaming.launch
+++ b/kuka_eki_hw_interface/launch/robot_interface_streaming.launch
@@ -78,9 +78,9 @@
   <!-- main 'driver node': the EKI hardware interface -->
   <node name="kuka_eki_hw_interface" pkg="kuka_eki_hw_interface" type="kuka_eki_hw_interface_node" respawn="false">
     <!-- remap topics to conform to ROS-I specifications -->
-    <remap from="$(arg pos_ctrlr_name)/follow_joint_trajectory" to="/joint_trajectory_action" />
-    <remap from="$(arg pos_ctrlr_name)/state" to="/feedback_states" />
-    <remap from="$(arg pos_ctrlr_name)/command" to="/joint_path_command"/>
+    <remap from="$(arg pos_ctrlr_name)/follow_joint_trajectory" to="joint_trajectory_action" />
+    <remap from="$(arg pos_ctrlr_name)/state" to="feedback_states" />
+    <remap from="$(arg pos_ctrlr_name)/command" to="joint_path_command"/>
   </node>
 
   <!-- spawn the actual controllers: note that the names of the controllers must