Commit ebf88bb5 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Adding comments

parent b6047f10
......@@ -513,7 +513,7 @@ hardware_interface::return_type SystemBoltHardware::read()
//rclcpp::get_logger("SystemBoltHardware"),
//"Reading...");
// Data acquisition
// Data acquisition (with ODRI)
robot->ParseSensorData();
auto sensor_positions = robot->joints->GetPositions();
......@@ -527,7 +527,7 @@ hardware_interface::return_type SystemBoltHardware::read()
auto imu_quater = robot->imu->GetAttitudeQuaternion();
// Assignment of sensor data to ros2_control variables
// Assignment of sensor data to ros2_control variables (URDF)
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
hw_states_[joint.name].position = sensor_positions[joint_name_to_motor_nb[joint.name]];
hw_states_[joint.name].velocity = sensor_velocities[joint_name_to_motor_nb[joint.name]];
......
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