Commit 73365ab0 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Read timestep from ROS param /sot/dt

parent b8160279
......@@ -71,6 +71,8 @@ void SoTTalosController::init()
boost::unique_lock<boost::mutex> lock(mut);
cond.wait(lock);
double ts = ros::param::param<double> ("/sot/dt", SoTTalosDevice::TIMESTEP_DEFAULT);
device_.timeStep(ts);
}
SoTTalosController::~SoTTalosController()
......
......@@ -56,6 +56,8 @@ dgsot::Device
void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
void timeStep (double ts) { timestep_ = ts; }
protected:
/// \brief Current integration step.
......
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