From fa97cdd2d710a22f85ea6aa8ea3fec1a5114393c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 14 Dec 2017 07:41:20 +0000
Subject: [PATCH] Used the ros::this_node::getName() for the module namespace.
Added a launch file for the real robot. Modified the simulation launch file
to use the new launch file. Used the YAML configuration file.
---
launch/head_client.launch | 22 ++++++++++++++++++++++
launch/head_client_sim.launch | 32 +-------------------------------
src/head_client_alg_node.cpp | 2 +-
3 files changed, 24 insertions(+), 32 deletions(-)
create mode 100644 launch/head_client.launch
diff --git a/launch/head_client.launch b/launch/head_client.launch
new file mode 100644
index 0000000..307ec67
--- /dev/null
+++ b/launch/head_client.launch
@@ -0,0 +1,22 @@
+<launch>
+
+ <!-- launch the play motion client node -->
+ <node name="head_client"
+ pkg="head_client"
+ type="head_client"
+ output="screen"
+ ns="/tiago">
+ <remap from="~/head_module/move_head"
+ to="/head_controller/follow_joint_trajectory"/>
+ <remap from="~/head_module/point_head"
+ to="/head_controller/point_head_action"/>
+
+ <rosparam file="$(find tiago_modules)/config/head_module_default.yaml" command="load" ns="head_module" />
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/launch/head_client_sim.launch b/launch/head_client_sim.launch
index 25f6a44..90ad8b8 100644
--- a/launch/head_client_sim.launch
+++ b/launch/head_client_sim.launch
@@ -5,37 +5,7 @@
<arg name="robot" value="steel" />
</include>
- <!-- launch the play motion client node -->
- <node name="head_client"
- pkg="head_client"
- type="head_client"
- output="screen"
- ns="/tiago">
- <remap from="~/head_module/move_head"
- to="/head_controller/follow_joint_trajectory"/>
- <remap from="~/head_module/point_head"
- to="/head_controller/point_head_action"/>
- <param name="~/head_module/rate_hz" value="10"/>
- <param name="~/head_module/move_max_retries" value="5"/>
- <param name="~/head_module/move_enable_timeout" value="false"/>
- <param name="~/head_module/move_feedback_watchdog_time_s" value="20"/>
- <param name="~/head_module/move_timeout_s" value="10"/>
- <param name="~/head_module/move_default_duration" value="1.0"/>
- <param name="~/head_module/move_enabled" value="true"/>
-
- <param name="~/head_module/point_max_retries" value="5"/>
- <param name="~/head_module/point_enable_timeout" value="false"/>
- <param name="~/head_module/point_feedback_watchdog_time_s" value="20"/>
- <param name="~/head_module/point_timeout_s" value="10"/>
- <param name="~/head_module/point_default_duration" value="1.0"/>
- <param name="~/head_module/point_max_velocity" value="1.0"/>
- <param name="~/head_module/point_min_velocity" value="0.25"/>
- <param name="~/head_module/point_enabled" value="true"/>
- </node>
-
- <!-- launch dynamic reconfigure -->
- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>
+ <include file="$(find head_client)/launch/head_client.launch">
</launch>
diff --git a/src/head_client_alg_node.cpp b/src/head_client_alg_node.cpp
index 9690570..4d618cb 100644
--- a/src/head_client_alg_node.cpp
+++ b/src/head_client_alg_node.cpp
@@ -3,7 +3,7 @@
HeadClientAlgNode::HeadClientAlgNode(void) :
algorithm_base::IriBaseAlgorithm<HeadClientAlgorithm>(),
- head("head_module")
+ head("head_module",ros::this_node::getName())
{
//init class attributes if necessary
//this->loop_rate_ = 2;//in [Hz]
--
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