Commit 0e24784a authored by Olivier Stasse's avatar Olivier Stasse

Remove debug messages and add dt initialization through device.

parent 7391adda
......@@ -11,7 +11,6 @@ from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import \
AbstractHumanoidRobot
from dynamic_graph.sot.core.parameter_server import ParameterServer
from rospkg import RosPack
# Internal helper tool.
......@@ -66,14 +65,15 @@ class Talos(AbstractHumanoidRobot):
}
if fromRosParam:
print("Using ROS parameter \"/robot_description\"")
rosParamName = "/robot_description"
ltimeStep=0.005
if device is not None:
ltimeStep = device.getTimeStep()
print("Using SoT parameter \"/robot_description\"")
paramName = "/robot_description"
self.param_server = ParameterServer("param_server")
self.param_server.init_simple()
model2_string=self.param_server.getParameter(rosParamName)
print("Start model2_string")
print(model2_string)
print("Stop model2_string")
self.param_server.init_simple(ltimeStep)
model2_string=self.param_server.getParameter(paramName)
self.loadModelFromString(model2_string,
rootJointType=pinocchio.JointModelFreeFlyer,
removeMimicJoints=True)
......
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