From c57b32887299e04a1ae046759a3316d71930ef63 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Tue, 29 Aug 2017 20:59:38 +0200
Subject: [PATCH] Minor changes to execute to algorithm to go downstairs.
---
darwin_controller/include/darwin_controller_impl.h | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 62d72b0..7a6ee9f 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -716,7 +716,10 @@ namespace darwin_controller
void DarwinController<HardwareInterface>::stairs_startCallback(const humanoid_common_msgs::humanoid_stairsGoalConstPtr& goal)
{
ROS_INFO("CDarwinSim : start climbing stairs ");
- stairs_start();
+ if(goal->up)
+ stairs_start(0x01);
+ else
+ stairs_start(0x00);
}
template <class HardwareInterface>
--
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