From ff5f6d1303f41ee2e5f485b5b919eb6ac8018b2a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 27 Jul 2017 12:15:46 +0200
Subject: [PATCH] Solved a bug in the set walk parameters callback function. It
must return true.
---
darwin_controller/include/darwin_controller_impl.h | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index dc3b67b..2a05c25 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -325,7 +325,7 @@ namespace darwin_controller
/* go to the walk ready position */
for(unsigned int i=0;i<20;++i)
{
- manager_set_module(i+1,MM_WALKING);
+ manager_set_module(i+1,MM_ACTION);
manager_enable_servo(i+1);
}
for(unsigned int i=20;i<n_joints;++i)
@@ -725,6 +725,8 @@ namespace darwin_controller
this->walk_access.exit();
res.ret=true;
+
+ return true;
}
/************************************ set_walk_params *******************************************/
--
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