message: sets bigger queue for subscriber
diff: @@ -20,8 +20,9 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  std::vector<double> cartesian_damping_vector;
  node_handle_ = node_handle;
  - sub_equilibrium_pose_ = node_handle_.subscribe("equilibrium_pose",1,
  - &CartesianImpedanceExampleController::equilibrium_pose_callback, this);
  + sub_equilibrium_pose_ = node_handle_.subscribe("/equilibrium_pose",20,
  + &CartesianImpedanceExampleController::equilibrium_pose_callback,
  + this, ros::TransportHints().reliable().tcpNoDelay());
  if (!node_handle_.getParam("arm_id", arm_id_)) {
  ROS_ERROR_STREAM("CartesianImpedanceExampleController: Could not read parameter arm_id");
  @@ -58,7 +59,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  robot_hw->get<franka_hw::FrankaModelInterface>();
  if (model_interface == nullptr) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Error getting model interface from hardware");
  + "CartesianImpedanceExampleController: Error getting model interface from hardware");
  return false;
  }
  try {
  @@ -66,7 +67,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  new franka_hw::FrankaModelHandle(model_interface->getHandle(arm_id_ + "_model")));
  } catch (hardware_interface::HardwareInterfaceException& ex) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Exception getting model handle from interface: "
  + "CartesianImpedanceExampleController: Exception getting model handle from interface: "
  << ex.what());
  return false;
  }
  @@ -75,7 +76,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  robot_hw->get<franka_hw::FrankaStateInterface>();
  if (state_interface == nullptr) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Error getting state interface from hardware");
  + "CartesianImpedanceExampleController: Error getting state interface from hardware");
  return false;
  }
  try {
  @@ -83,7 +84,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  state_interface->getHandle(arm_id_ + "_robot")));
  } catch (hardware_interface::HardwareInterfaceException& ex) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Exception getting state handle from interface: "
  + "CartesianImpedanceExampleController: Exception getting state handle from interface: "
  << ex.what());
  return false;
  }
  @@ -92,7 +93,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  robot_hw->get<hardware_interface::EffortJointInterface>();
  if (effort_joint_interface == nullptr) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Error getting effort joint interface from hardware");
  + "CartesianImpedanceExampleController: Error getting effort joint interface from hardware");
  return false;
  }
  for (size_t i = 0; i < 7; ++i) {
  @@ -100,7 +101,7 @@ bool CartesianImpedanceExampleController::init(hardware_interface::RobotHW* robo
  joint_handles_.push_back(effort_joint_interface->getHandle(joint_names_[i]));
  } catch (const hardware_interface::HardwareInterfaceException& ex) {
  ROS_ERROR_STREAM(
  - "JointImpedanceExampleController: Exception getting joint handles: " << ex.what());
  + "CartesianImpedanceExampleController: Exception getting joint handles: " << ex.what());
  return false;
  }
  }
  