youbot_ros_pkg.patch

diff --git a/youbot_drivers/youbot_oodl/CMakeLists.txt b/youbot_drivers/youbot_oodl/CMakeLists.txt
index 5971f49..ba2e33c 100644
--- a/youbot_drivers/youbot_oodl/CMakeLists.txt
+++ b/youbot_drivers/youbot_oodl/CMakeLists.txt
@@ -57,7 +57,7 @@ target_link_libraries(youbot_oodl ${OODL_YOUBOT_LIBRARIES} ${Boost_LIBRARIES})
 
 OPTION(USE_SETCAP "Set permissions to access ethernet interface without sudo" ON)
 
-SET(SUDO_COMMAND gksudo)
+SET(SUDO_COMMAND sudo)
 IF($ENV{USE_NORMAL_SUDO})
     SET(SUDO_COMMAND sudo)
 ENDIF($ENV{USE_NORMAL_SUDO})
diff --git a/youbot_drivers/youbot_oodl/src/YouBotOODLWrapper.cpp b/youbot_drivers/youbot_oodl/src/YouBotOODLWrapper.cpp
index 8e51d95..557b142 100644
--- a/youbot_drivers/youbot_oodl/src/YouBotOODLWrapper.cpp
+++ b/youbot_drivers/youbot_oodl/src/YouBotOODLWrapper.cpp
@@ -701,6 +701,7 @@ void YouBotOODLWrapper::computeOODLSensorReadings()
     currentTime = ros::Time::now();
     youbot::JointSensedAngle currentAngle;
     youbot::JointSensedVelocity currentVelocity;
+    youbot::JointSensedCurrent currentCurrent;
 
     youbot::EthercatMaster::getInstance().AutomaticReceiveOn(false); // ensure that all joint values will be received at the same time
 
@@ -816,6 +817,7 @@ void YouBotOODLWrapper::computeOODLSensorReadings()
             armJointStateMessages[armIndex].name.resize(youBotArmDoF + youBotNumberOfFingers);
             armJointStateMessages[armIndex].position.resize(youBotArmDoF + youBotNumberOfFingers);
             armJointStateMessages[armIndex].velocity.resize(youBotArmDoF + youBotNumberOfFingers);
+	    armJointStateMessages[armIndex].effort.resize(youBotArmDoF);
 
             if (youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm == 0)
             {
@@ -828,10 +830,12 @@ void YouBotOODLWrapper::computeOODLSensorReadings()
             {
                 youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmJoint(i + 1).getData(currentAngle); //youBot joints start with 1 not with 0 -> i + 1 //FIXME might segfault if only 1eout of 2 arms are initialized.
                 youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmJoint(i + 1).getData(currentVelocity);
+		youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->getArmJoint(i + 1).getData(currentCurrent);
 
                 armJointStateMessages[armIndex].name[i] = youBotConfiguration.youBotArmConfigurations[armIndex].jointNames[i]; //TODO no unique names for URDF yet
                 armJointStateMessages[armIndex].position[i] = currentAngle.angle.value();
                 armJointStateMessages[armIndex].velocity[i] = currentVelocity.angularVelocity.value();
+		armJointStateMessages[armIndex].effort[i] = currentCurrent.current.value();
             }
 
             // check if trajectory controller is finished