message: consistent use of  operator[] and removed abbreviations in variable names
diff: int main(int argc, char** argv) {
  ros::init(argc, argv, "franka_joint_state_publisher");
  - ros::NodeHandle nh("~");
  - ros::NodeHandle nhp;
  + ros::NodeHandle private_nodehandle("~");
  + ros::NodeHandle public_nodehandle;
  ros::Rate rate(1000);
  ros::Publisher joint_pub =
  - nhp.advertise<sensor_msgs::JointState>("joint_states", 1);
  + public_nodehandle.advertise<sensor_msgs::JointState>("joint_states", 1);
  std::vector<std::string> joint_names;
  // parse yaml with joint names and robot-IP
  XmlRpc::XmlRpcValue params;
  - nh.getParam("joint_names", params);
  + private_nodehandle.getParam("joint_names", params);
  joint_names.resize(params.size());
  for (int i = 0; i < params.size(); ++i) {
  joint_names[i] = static_cast<std::string>(params[i]);
  ROS_INFO("parsed jointname[%d]= %s", i, joint_names[i].c_str());
  }
  std::string robot_ip;
  - nh.getParam("robot_ip", robot_ip);
  + private_nodehandle.getParam("robot_ip", robot_ip);
  ROS_INFO("parsed franka robot IP: %s", robot_ip.c_str());
  sensor_msgs::JointState states;
  @@ -42,10 +42,10 @@ int main(int argc, char** argv) {
  states.header.stamp = ros::Time::now();
  states.header.seq = secnr;
  for (int i = 0; i < joint_names.size(); ++i) {
  - states.name.at(i) = joint_names.at(i);
  - states.position.at(i) = robot_state.q[i];
  - states.velocity.at(i) = robot_state.dq[i];
  - states.effort.at(i) = robot_state.tau_J[i];
  + states.name[i] = joint_names[i];
  + states.position[i] = robot_state.q[i];
  + states.velocity[i] = robot_state.dq[i];
  + states.effort[i] = robot_state.tau_J[i];
  }
  joint_pub.publish(states);
  ros::spinOnce();
  