From f8db9af3196d0904192267872019f4ce54f52bf3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 4 Jul 2018 19:38:16 +0200
Subject: [PATCH] In position control, send currents, accelerometer and
gyrometer to SOT.
---
roscontrol_sot_talos/config/sot_talos_params.yaml | 4 ++--
roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/roscontrol_sot_talos/config/sot_talos_params.yaml b/roscontrol_sot_talos/config/sot_talos_params.yaml
index 32b2741..f776caf 100644
--- a/roscontrol_sot_talos/config/sot_talos_params.yaml
+++ b/roscontrol_sot_talos/config/sot_talos_params.yaml
@@ -7,8 +7,8 @@ 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,
- torques: torques, cmd-joints: control, cmd-effort: control }
+ joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+ torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos:
- name: leg_left_1_joint
des_pos: 0.0
diff --git a/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml b/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
index 480ab0d..067ae0b 100644
--- a/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
+++ b/roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml
@@ -8,8 +8,8 @@ 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,
- torques: torques, cmd-joints: control, cmd-effort: control }
+ joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+ torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
position_control_init_pos:
- name: leg_left_1_joint
des_pos: 0.0
--
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