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Commit c57b3288 authored by Sergi Hernandez's avatar Sergi Hernandez
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Minor changes to execute to algorithm to go downstairs.

parent 5cdac6cc
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...@@ -716,7 +716,10 @@ namespace darwin_controller ...@@ -716,7 +716,10 @@ namespace darwin_controller
void DarwinController<HardwareInterface>::stairs_startCallback(const humanoid_common_msgs::humanoid_stairsGoalConstPtr& goal) void DarwinController<HardwareInterface>::stairs_startCallback(const humanoid_common_msgs::humanoid_stairsGoalConstPtr& goal)
{ {
ROS_INFO("CDarwinSim : start climbing stairs "); ROS_INFO("CDarwinSim : start climbing stairs ");
stairs_start(); if(goal->up)
stairs_start(0x01);
else
stairs_start(0x00);
} }
template <class HardwareInterface> template <class HardwareInterface>
......
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