gistfile1.txt

  for (size_t i = 0; i < vel_joint_names.size(); ++i)
  {
    hardware_interface::JointStateHandle joint_state_handle(vel_joint_names[i],
        &joints_[i].act_pos, &joints_[i].act_vel, &dummy_effort);
    joint_state_interface_.registerHandle(joint_state_handle);

    hardware_interface::JointHandle joint_handle(
        joint_state_handle, &joints_[i].ref_vel);
    velocity_joint_interface_.registerHandle(joint_handle);
  }
  for (size_t i = 0; i < pos_joint_names.size(); ++i)
  {
    hardware_interface::JointStateHandle joint_state_handle(pos_joint_names[i],
        &joints_[vel_joint_names.size() + i].act_pos, &joints_[vel_joint_names.size() + i].act_vel, &dummy_effort);
    joint_state_interface_.registerHandle(joint_state_handle);

    hardware_interface::JointHandle joint_handle(
        joint_state_handle, &joints_[vel_joint_names.size() + i].ref_pos);
    position_joint_interface_.registerHandle(joint_handle);
  }