Commit 4a83bd5e authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Executed the walk ready page at startup to avoid spureous motions.

Reduced the friction on the feet.
parent 63b60108
......@@ -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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