Commit a13927a7 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif init_robot for imu => will see later

parent 8c992851
...@@ -99,6 +99,12 @@ return_type SystemBoltHardware::init_robot(const hardware_interface::HardwareInf ...@@ -99,6 +99,12 @@ return_type SystemBoltHardware::init_robot(const hardware_interface::HardwareInf
// Define the IMU (ODRI). // Define the IMU (ODRI).
rotate_vector_ << 1, 2, 3; rotate_vector_ << 1, 2, 3;
orientation_vector_ << 1, 2, 3, 4; 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>( auto imu = std::make_shared<IMU>(
main_board_ptr_, rotate_vector_, orientation_vector_); main_board_ptr_, rotate_vector_, orientation_vector_);
......
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