message: reads arm_id from the parameter server
diff: @@ -28,18 +28,19 @@ def processFeedback(feedback):
  if __name__ == "__main__":
  rospy.init_node("equilibrium_pose_node")
  listener = tf.TransformListener()
  + arm_id = rospy.get_param("arm_id")
  try:
  # get initial pose through TF
  - listener.waitForTransform("/franka_emika_link0", "/franka_emika_EE",
  + listener.waitForTransform(arm_id + "_link0", arm_id + "_EE",
  rospy.Time(0), rospy.Duration(10.0))
  (initial_translation, initial_quaternion) = listener.lookupTransform(
  - "/franka_emika_link0", "/franka_emika_EE", rospy.Time(0))
  + arm_id + "_link0", arm_id + "_EE", rospy.Time(0))
  pose_pub = rospy.Publisher(
  "/equilibrium_pose", PoseStamped, queue_size=10)
  server = InteractiveMarkerServer("equilibrium_pose_marker")
  int_marker = InteractiveMarker()
  - int_marker.header.frame_id = "franka_emika_link0"
  + int_marker.header.frame_id = arm_id + "_link0"
  int_marker.pose.position.x = initial_translation[0]
  int_marker.pose.position.y = initial_translation[1]
  int_marker.pose.position.z = initial_translation[2]
  @@ -114,4 +115,5 @@ if __name__ == "__main__":
  rospy.spin()
  except (tf.LookupException,
  tf.ConnectivityException, tf.ExtrapolationException):
  - rospy.logerr("Coudn't find franka_emika_EE transform!")
  + rospy.logerr("Coudn't find " + arm_id + "_EE to " +
  + arm_id + "_link0 transform!")
  