From c599a1bc9060b69999328a996cd58f49faed022b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 31 May 2017 08:43:26 +0200
Subject: [PATCH] Solved a bug in the add_servo() function when checking the
already assigned servos. Removed the servo assignment from the action and
walk clients because it is already done by the corresponding modules.
---
action_client/src/action_client_alg_node.cpp | 2 --
humanoid_modules/include/humanoid_modules/humanoid_module.h | 2 +-
walk_client/src/walk_client_alg_node.cpp | 1 -
3 files changed, 1 insertion(+), 4 deletions(-)
diff --git a/action_client/src/action_client_alg_node.cpp b/action_client/src/action_client_alg_node.cpp
index 66e82e8..559449d 100644
--- a/action_client/src/action_client_alg_node.cpp
+++ b/action_client/src/action_client_alg_node.cpp
@@ -19,8 +19,6 @@ ActionClientAlgNode::ActionClientAlgNode(void) :
// [init action servers]
// [init action clients]
-
- this->action.add_whole_body();
}
ActionClientAlgNode::~ActionClientAlgNode(void)
diff --git a/humanoid_modules/include/humanoid_modules/humanoid_module.h b/humanoid_modules/include/humanoid_modules/humanoid_module.h
index b9345d4..ce1cd30 100644
--- a/humanoid_modules/include/humanoid_modules/humanoid_module.h
+++ b/humanoid_modules/include/humanoid_modules/humanoid_module.h
@@ -104,7 +104,7 @@ void CHumanoidModule<Module>::add_servo(const std::string &name)
{
for(j=0;j<this->assigned_servos.size();j++)
{
- if(this->assigned_servos[i]==name)
+ if(this->assigned_servos[j]==name)
return;// servo already assigned to this module
}
this->assigned_servos.push_back(name);
diff --git a/walk_client/src/walk_client_alg_node.cpp b/walk_client/src/walk_client_alg_node.cpp
index 0abb585..59bed31 100644
--- a/walk_client/src/walk_client_alg_node.cpp
+++ b/walk_client/src/walk_client_alg_node.cpp
@@ -20,7 +20,6 @@ WalkClientAlgNode::WalkClientAlgNode(void) :
// [init action servers]
// [init action clients]
- this->walk.add_whole_body();
}
WalkClientAlgNode::~WalkClientAlgNode(void)
--
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