From 9b0a13ad60af680b733ce153c285ee001066e9e2 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 11 Oct 2017 17:52:11 +0200
Subject: [PATCH] Fix name for accelerometer and gyrometer + Add fields for
proper mapping in config file.
---
talos_roscontrol_sot/src/roscontrol-sot-controller.cpp | 5 ++---
.../config/sot_talos_params_gazebo_effort.yaml | 2 +-
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
index 29c65a1..c387aa1 100644
--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
@@ -541,10 +541,10 @@ namespace talos_sot_controller
std::string orientation_s("orientation_");
setSensorsImu(orientation_s, idIMU, DataOneIter_.orientation);
- std::string gyrometer_s("gyrometer_");
+ std::string gyrometer_s("gyrometer_0");
setSensorsImu(gyrometer_s, idIMU, DataOneIter_.gyrometer);
- std::string accelerometer_s("accelerometer_");
+ std::string accelerometer_s("accelerometer_0");
setSensorsImu(accelerometer_s, idIMU, DataOneIter_.accelerometer);
}
}
@@ -552,7 +552,6 @@ namespace talos_sot_controller
void RCSotController::
fillForceSensors()
{
-
for(unsigned int idFS=0;idFS<ft_sensors_.size();
idFS++)
{
diff --git a/talos_roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml b/talos_roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml
index 5a9cb80..868173d 100644
--- a/talos_roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml
+++ b/talos_roscontrol_sot_talos/config/sot_talos_params_gazebo_effort.yaml
@@ -8,6 +8,6 @@ sot_controller:
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 ]
map_rc_to_sot_device: { motor-angles: motor-angles ,
- joint-angles: joint-angles, velocities: velocities,
+ joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control }
control_mode: EFFORT
--
GitLab