bool connectDefault(const std::string& robot_name) // MQueue { if(hasPeer(robot_name)) { RTT::log(RTT::Info) << "Trying to connect to default joint ports."<<RTT::endlog(); RTT::TaskContext* peer = getPeer(robot_name); if(peer == NULL) return false; RTT::ConnPolicy policy = RTT::ConnPolicy::data(); port_JointPosition.connectTo(peer->getPort("JointPosition"),policy); port_JointVelocity.connectTo(peer->getPort("JointVelocity"),policy); port_JointTorque.connectTo(peer->getPort("JointTorque"),policy); } else { return false; } return port_JointPosition.connected() || port_JointVelocity.connected() || port_JointTorque.connected(); }