Commit 1e8b5b71 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Attenpts on write() function

parent 5406899e
......@@ -482,8 +482,7 @@ return_type SystemBoltHardware::start()
////// STOP
// STOP
return_type SystemBoltHardware::stop()
{
......@@ -633,13 +632,21 @@ SystemBoltHardware::write()
//Chose à faire si le robot n'est pas Ready
}
}
robot->SendCommand();
}
// This part of the code sends command to the real robot.
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
hw_commands_[joint.name].position;
hw_commands_[joint.name].velocity;
hw_commands_[joint.name].effort;
hw_commands_[joint.name].Kp;
hw_commands_[joint.name].Kd;
}
// RCLCPP_INFO(
// rclcpp::get_logger("SystemBoltHardware"),
// "Writing...");
......
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