Commit eef5b595 authored by Olivier Stasse's avatar Olivier Stasse

Publish state of the robot through RosPublish

parent f5b28288
Pipeline #2342 failed with stage
in 1 second
......@@ -34,6 +34,13 @@ sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control,robot.device.control)
from dynamic_graph.ros import RosPublish
ros_publish_state = RosPublish ("ros_publish_state")
ros_publish_state.add ("vector", "state", "/sot_control/state")
from dynamic_graph import plug
plug (robot.device.state, ros_publish_state.state)
robot.device.after.addDownsampledSignal ("ros_publish_state.trigger", 100)
#target = (0.5,-0.2,1.0)
#addRobotViewer(robot, small=False)
......
Markdown is supported
0%
or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment