From 6addab4f197bb6c97500d01a7d828c767d9d6cd2 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 22 Oct 2020 12:52:28 +0000
Subject: [PATCH] [SotLoaderBasic] parseOptions does not call initialization
anymore.
- initialization() should be called after initializeRosNode() since the
former stores ROS parameter "/robot_description" in
sot::sgl_map_name_to_robot_util (sot/tools/robot-utils.cpp), while the
second sends the python prologue to the interpreter, and the prologue
needs the parameter server to contain key "/robot_description".
---
src/geometric_simu.cpp | 4 ++++
src/sot_loader_basic.cpp | 1 -
2 files changed, 4 insertions(+), 1 deletion(-)
diff --git a/src/geometric_simu.cpp b/src/geometric_simu.cpp
index ec6c1af..f6f7225 100644
--- a/src/geometric_simu.cpp
+++ b/src/geometric_simu.cpp
@@ -21,7 +21,11 @@ int main(int argc, char *argv[]) {
SotLoader aSotLoader;
if (aSotLoader.parseOptions(argc, argv) < 0) return -1;
+ // Advertize service "(start|stop)_dynamic_graph" and
+ // load parameter "robot_description in SoT.
aSotLoader.initializeRosNode(argc, argv);
+ // Load dynamic library and run python prologue.
+ aSotLoader.Initialization();
ros::waitForShutdown ();
return 0;
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index 16a95a4..1b3024f 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -129,7 +129,6 @@ int SotLoaderBasic::parseOptions(int argc, char* argv[]) {
} else
dynamicLibraryName_ = vm_["input-file"].as<string>();
- Initialization();
return 0;
}
--
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