Parameter server
Created by: nim65s
Hi @olivier-stasse,
Since https://github.com/stack-of-tasks/sot-core/pull/156, when I launch the test kine, I have:
Read Sot Vector State Param
[ WARN] [1599048510.382045619, 1.534000000]: initRequest 1
[ WARN] [1599048510.423041666, 1.548000000]: No parameter /sot_controller/effort_controler_pd_motor_init
[ WARN] [1599048510.423389623, 1.548000000]: No parameter /sot_controller/velocity_controler_pd_motor_init
[ WARN] [1599048510.423722108, 1.549000000]: initRequest 2
[ERROR] [1599048510.429919441, 1.550000000]: Wrong initialization of parameter_name /robot_description
[ WARN] [1599048510.431565747, 1.550000000]: initRequest 3
[ WARN] [1599048510.898135668, 1.771000000]: initRequest 4
[ERROR] [1599048512.235835262, 2.533000000]: Traceback (most recent call last):
File "<string>", line 1, in <module>
File "…/site-packages/dynamic_graph/sot/pyrene/prologue.py", line 29, in makeRobot
robot = Robot(name='talos', device=DeviceTalos('PYRENE'), fromRosParam=True)
File "…/site-packages/dynamic_graph/sot/pyrene/robot.py", line 51, in __init__
Talos.__init__(self, name, device=device, tracer=tracer, fromRosParam=fromRosParam)
File "…/site-packages/dynamic_graph/sot/talos/talos.py", line 75, in __init__
self.param_server.init_simple(ltimeStep)
RuntimeError: No robot registered in the parameter server list listOfRobots->size: 0
The first ERROR comes from here: https://github.com/stack-of-tasks/dynamic_graph_bridge/blob/master/src/ros_parameter.cpp#L45
Is anything missing in talos_integration_test, eg. to publish an URDF to /robot_description
before launching the test ?