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Paul Rouanet
ros2_control_bolt
Commits
a13927a7
Commit
a13927a7
authored
Jul 21, 2021
by
Paul Rouanet
Browse files
Modif init_robot for imu => will see later
parent
8c992851
Changes
1
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ros2_control_bolt/src/system_bolt.cpp
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a13927a7
...
...
@@ -99,6 +99,12 @@ return_type SystemBoltHardware::init_robot(const hardware_interface::HardwareInf
// Define the IMU (ODRI).
rotate_vector_
<<
1
,
2
,
3
;
orientation_vector_
<<
1
,
2
,
3
,
4
;
/*for (const hardware_interface::ComponentInfo & sensor : info.sensors) {
rotate_vector_ = stol(sensor.parameters.at("rotate_vector"));
//orientation_vector_ = sensor.parameters.at("orientation_vector");
}*/
auto
imu
=
std
::
make_shared
<
IMU
>
(
main_board_ptr_
,
rotate_vector_
,
orientation_vector_
);
...
...
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