Commit 38554ea0 authored by Laia Freixas Mateu's avatar Laia Freixas Mateu
Browse files
parents 3f62a3e2 20ff6fb9
......@@ -326,6 +326,8 @@ namespace bioloid_controller_cm510
manager_init(num_servos);
if(exp_board_id!=-1)
exp_board_init(exp_board_id);
action_set_page(31);
action_start_page();
first=false;
}
......@@ -521,7 +523,8 @@ namespace bioloid_controller_cm510
exp_gpio_values[17]=threshold;
else if(frame_name==this->exp_gpio18_frame)
exp_gpio_values[18]=threshold;
}
}
std::cout << (int)exp_gpio_values[0] << "," << (int)exp_gpio_values[1] << "," << (int)exp_gpio_values[2] << "," << (int)exp_gpio_values[3] << "," << (int)exp_gpio_values[4] << "," << (int)exp_gpio_values[5] << std::endl;
}
template <class HardwareInterface>
......
......@@ -243,8 +243,8 @@
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
......@@ -321,8 +321,8 @@
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
......
......@@ -14,7 +14,7 @@
</include>
<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model bioloid -x 0 -y 0 -z 0.32 -R 1.5707 -P 0 -Y 0"/>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model bioloid -x 0 -y 0 -z 0.35 -R 1.5707 -P 0 -Y 0"/>
</launch>
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