enable prefix option

roboticslab-uc3m · Dec 3, 2017 · 3c45449 · 3c45449
1 parent c8db78c
commit 3c45449
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/examples/openrave-YarpPluginLoader.py b/examples/openrave-YarpPluginLoader.py
@@ -14,7 +14,7 @@
     env.Load('/usr/local/share/teo-openrave-models/contexts/openrave/teo/teo.robot.xml')
 
     OpenraveYarpPluginLoader = RaveCreateModule(env,'OpenraveYarpPluginLoader')
-    print OpenraveYarpPluginLoader.SendCommand('open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 0')
+    print OpenraveYarpPluginLoader.SendCommand('open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --manipulatorIndex 0 --prefix /drl')
 
     while 1:
         pass

diff --git a/libraries/OpenravePlugins/OpenraveYarpPluginLoader/OpenraveYarpPluginLoader.cpp b/libraries/OpenravePlugins/OpenraveYarpPluginLoader/OpenraveYarpPluginLoader.cpp
@@ -112,8 +112,14 @@ class OpenraveYarpPluginLoader : public OpenRAVE::ModuleBase
         //-- If robotIndex (and then if manipulatorIndex), get and put name
         if( options.check("robotIndex") )
         {
-            std::string name("/");
+            std::string name;
 
+            if( options.check("prefix") )
+            {
+                name += options.find("prefix").asString();
+            }
+
+            name += "/";
             int robotPtrIdx = options.find("robotIndex").asInt();
 
             std::vector<OpenRAVE::RobotBasePtr> vectorOfRobotPtr;