message: adde underscore for clarity
diff: @@ -42,7 +42,7 @@ FrankaHW::FrankaHW(const std::vector<std::string>& joint_names,
  joint_names_ = joint_names;
  for (size_t i = 0; i < joint_names_.size(); ++i) {
  - hardware_interface::JointStateHandle joint_handle_qd(
  + hardware_interface::JointStateHandle joint_handle_q_d(
  joint_names_[i], &robot_state_.q_d[i], &robot_state_.dq[i],
  &robot_state_.tau_J[i]);
  @@ -53,11 +53,11 @@ FrankaHW::FrankaHW(const std::vector<std::string>& joint_names,
  joint_state_interface_.registerHandle(joint_handle_q);
  hardware_interface::JointHandle position_joint_handle(
  - joint_handle_qd, &position_joint_command_.q[i]);
  + joint_handle_q_d, &position_joint_command_.q[i]);
  position_joint_interface_.registerHandle(position_joint_handle);
  hardware_interface::JointHandle velocity_joint_handle(
  - joint_handle_qd, &velocity_joint_command_.dq[i]);
  + joint_handle_q_d, &velocity_joint_command_.dq[i]);
  velocity_joint_interface_.registerHandle(velocity_joint_handle);
  hardware_interface::JointHandle effort_joint_handle(
  