Commit 9c4d2246 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif argv to argv_

parent e635a690
......@@ -205,9 +205,9 @@ private:
//Network id
char **argv;
char argv_;
//Joints constants
//robot
std::shared_ptr<odri_control_interface::Robot> robot_;
double motor_constants = 0.025;
......
......@@ -52,13 +52,21 @@ Eigen::Vector6d desired_torque = Eigen::Vector6d::Zero();
return_type SystemBoltHardware::init_robot(const hardware_interface::HardwareInfo & info)
{
argv_ = info_.hardware_parameters["argv"];
/*Définir le robot (ODRI) à partir des variables de l'URDF*/
// Define board (ODRI)
auto main_board_ptr_ = std::make_shared<MasterBoardInterface>(argv[1]);
auto main_board_ptr_ = std::make_shared<MasterBoardInterface>(argv_);
// Define joints (ODRI)
motor_numbers << 0, 3, 2, 1, 5, 4;
Eigen::Vector6d motor_numbers_ = Eigen::Vector6d::Zero();
//motor_numbers_[0] = std::__cxx11::stoi(info_.hardware_parameters["motor_numbers"][0]);
//stod(info_.hardware_parameters["example_param_hw_slowdown"])
motor_reversed_polarities << true, false, true, true, false, false;
for (const hardware_interface::ComponentInfo & joint : info.joints) {
......@@ -68,7 +76,7 @@ return_type SystemBoltHardware::init_robot(const hardware_interface::HardwareInf
}
auto joints = std::make_shared<JointModules>(main_board_ptr_,
motor_numbers,
motor_numbers_,
motor_constants,
gear_ratios,
max_currents,
......
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