From 34ee36083d499abd229d7406d4cabd9b2c0fc6ab Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 10 Jul 2019 10:11:54 +0200
Subject: [PATCH] Added the robot driver inside the darwin namespace. Tested
the walk, action, head and joints clients and modules in simulation. The
all_clients simulation launch is working.
---
darwin_apps/launch/all_clients_sim.launch | 6 +++---
darwin_apps/launch/head_tracking_client_sim.launch | 4 ++--
darwin_apps/launch/joint_trajectory_client_sim.launch | 6 +++---
darwin_apps/launch/walk_client_sim.launch | 6 +++---
4 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/darwin_apps/launch/all_clients_sim.launch b/darwin_apps/launch/all_clients_sim.launch
index c79c47a..6704a70 100644
--- a/darwin_apps/launch/all_clients_sim.launch
+++ b/darwin_apps/launch/all_clients_sim.launch
@@ -29,11 +29,11 @@
type="joints_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/joints_client/joint_trajectory_action"
+ <remap from="/darwin/joint_trajectory/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/joints_client/set_servo_modules"
+ <remap from="/darwin/joint_trajectory/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/joints_client/joint_states"
+ <remap from="/joint_trajectory/joint_states"
to="/darwin/joint_states"/>
</node>
diff --git a/darwin_apps/launch/head_tracking_client_sim.launch b/darwin_apps/launch/head_tracking_client_sim.launch
index 569ce7f..7a6f209 100644
--- a/darwin_apps/launch/head_tracking_client_sim.launch
+++ b/darwin_apps/launch/head_tracking_client_sim.launch
@@ -12,9 +12,9 @@
type="head_tracking_client"
output="screen"
ns="/darwin">
- <remap from="/head_tracking_client/head_tracking_action"
+ <remap from="/darwin/head_tracking_client/head_tracking_action"
to="/darwin/robot/head_follow_target"/>
- <remap from="/darwin/head_tracking_client/head_target"
+ <remap from="/head_tracking_client/head_target"
to="/darwin/robot/head_target"/>
<remap from="/darwin/head_tracking_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
diff --git a/darwin_apps/launch/joint_trajectory_client_sim.launch b/darwin_apps/launch/joint_trajectory_client_sim.launch
index 8b4f1b2..05ec16f 100644
--- a/darwin_apps/launch/joint_trajectory_client_sim.launch
+++ b/darwin_apps/launch/joint_trajectory_client_sim.launch
@@ -12,11 +12,11 @@
type="joints_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/joints_client/joint_trajectory_action"
+ <remap from="/darwin/joint_trajectory/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/joints_client/set_servo_modules"
+ <remap from="/darwin/joint_trajectory/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/joints_client/joint_states"
+ <remap from="/joint_trajectory/joint_states"
to="/darwin/joint_states"/>
</node>
diff --git a/darwin_apps/launch/walk_client_sim.launch b/darwin_apps/launch/walk_client_sim.launch
index fd66f92..16e47a0 100644
--- a/darwin_apps/launch/walk_client_sim.launch
+++ b/darwin_apps/launch/walk_client_sim.launch
@@ -29,7 +29,7 @@
<param name="FOOT_HEIGHT" value="0.04"/>
<param name="MAX_VEL" value="0.01"/>
<param name="MAX_ROT_VEL" value="0.01"/>
- <remap from="/darwin/walk_client/cmd_vel"
+ <remap from="/walk_client/cmd_vel"
to="/darwin/robot/cmd_vel"/>
<remap from="/darwin/walk_client/set_walk_params"
to="/darwin/robot/set_walk_params"/>
@@ -37,9 +37,9 @@
to="/darwin/robot/get_walk_params"/>
<remap from="/darwin/walk_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/walk_client/joint_states"
+ <remap from="/walk_client/joint_states"
to="/darwin/joint_states"/>
- <remap from="/darwin/walk_client/fallen_state"
+ <remap from="/walk_client/fallen_state"
to="/darwin/robot/fallen_state"/>
</node>
--
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