Commit c269092c authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Trying to use system_bolt.cpp function to test them on Bolt

parent 3eea12ed
......@@ -3,17 +3,20 @@
#include <system_bolt.hpp>
#include "system_bolt.hpp"
#include <odri_control_interface/utils.hpp>
#include <odri_control_interface/imu.hpp>
using namespace odri_control_interface;
using namespace ros2_control_bolt;
#include <iostream>
#include <stdexcept>
const hardware_interface::HardwareInfo info_test;
std::shared_ptr<odri_control_interface::Robot> robot;
int main(int argc, char **argv)
{
......@@ -26,10 +29,13 @@ int main(int argc, char **argv)
nice(-20); // Give the process a high priority.
//configure()
SystemBoltHardware::init_robot(info_test, robot);
SystemBoltHardware::configure(info_test);
// Start the robot.
robot->Start();
SystemBoltHardware::start();
int c = 0;
......@@ -42,7 +48,7 @@ int main(int argc, char **argv)
last = std::chrono::system_clock::now(); // last+dt would be better
robot->ParseSensorData();
c++;
/*c++;
if (c % 1000 == 0)
{
std::cout << "Count : " << c << "\n";
......@@ -81,7 +87,7 @@ int main(int argc, char **argv)
std::cout << "\n";
std::cout << std::endl;
}
}*/
}
else
{
......
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