From 5d1dd914b72420ba80ee540201cac55655bd828b Mon Sep 17 00:00:00 2001
From: Alexis Nicolin <alexisnicolin@gmail.com>
Date: Wed, 7 Mar 2018 19:26:19 +0100
Subject: [PATCH] Fix state_vector_map
---
sot_pyrene_bringup/CMakeLists.txt | 5 +++++
sot_pyrene_bringup/launch/geometric_simu_context.launch | 5 +++++
sot_pyrene_bringup/sot/pyrene.yaml | 7 +++++++
3 files changed, 17 insertions(+)
diff --git a/sot_pyrene_bringup/CMakeLists.txt b/sot_pyrene_bringup/CMakeLists.txt
index 8e0722e..53e4a11 100644
--- a/sot_pyrene_bringup/CMakeLists.txt
+++ b/sot_pyrene_bringup/CMakeLists.txt
@@ -23,6 +23,11 @@ INSTALL(
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
+INSTALL(
+ FILES
+ sot/pyrene.yaml
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot
+)
INSTALL(
FILES
diff --git a/sot_pyrene_bringup/launch/geometric_simu_context.launch b/sot_pyrene_bringup/launch/geometric_simu_context.launch
index 7eb2f75..fdd62d1 100644
--- a/sot_pyrene_bringup/launch/geometric_simu_context.launch
+++ b/sot_pyrene_bringup/launch/geometric_simu_context.launch
@@ -11,6 +11,11 @@
<!-- Load robot model. -->
<param name="robot_description"
textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
+
+
+ <!-- Load robot sot params. -->
+ <rosparam command="load"
+ file="$(find sot_pyrene_bringup)/sot/pyrene.yaml" />
<machine name="geometric_simu_machine"
address="localhost">
diff --git a/sot_pyrene_bringup/sot/pyrene.yaml b/sot_pyrene_bringup/sot/pyrene.yaml
index e69de29..8beec08 100644
--- a/sot_pyrene_bringup/sot/pyrene.yaml
+++ b/sot_pyrene_bringup/sot/pyrene.yaml
@@ -0,0 +1,7 @@
+sot:
+ state_vector_map: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
+ leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
+ torso_1_joint, torso_2_joint,
+ arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
+ arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
+ head_1_joint,head_2_joint]
--
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