From b008e96866e0edd58b022cd573374011d63aa0b8 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 14 Dec 2017 07:39:11 +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.
---
launch/play_motion_client.launch | 20 ++++++++++++++++++++
launch/play_motion_client_sim.launch | 20 +-------------------
src/play_motion_client_alg_node.cpp | 2 +-
3 files changed, 22 insertions(+), 20 deletions(-)
create mode 100644 launch/play_motion_client.launch
diff --git a/launch/play_motion_client.launch b/launch/play_motion_client.launch
new file mode 100644
index 0000000..977318f
--- /dev/null
+++ b/launch/play_motion_client.launch
@@ -0,0 +1,20 @@
+<launch>
+
+ <!-- launch the play motion client node -->
+ <node name="play_motion_client"
+ pkg="play_motion_client"
+ type="play_motion_client"
+ output="screen"
+ ns="/tiago">
+ <remap from="~/play_motion_module/play_motion"
+ to="/play_motion"/>
+
+ <rosparam file="$(find tiago_modules)/config/play_motion_module_default.yaml" command="load" ns="play_motion_module" />
+ </node>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+</launch>
+
diff --git a/launch/play_motion_client_sim.launch b/launch/play_motion_client_sim.launch
index ba7f47c..0e65dd1 100644
--- a/launch/play_motion_client_sim.launch
+++ b/launch/play_motion_client_sim.launch
@@ -5,25 +5,7 @@
<arg name="robot" value="steel" />
</include>
- <!-- launch the play motion client node -->
- <node name="play_motion_client"
- pkg="play_motion_client"
- type="play_motion_client"
- output="screen"
- ns="/tiago">
- <remap from="~/play_motion_module/play_motion"
- to="/play_motion"/>
- <param name="~/play_motion_module/action_max_retries" value="5"/>
- <param name="~/play_motion_module/enable_timeout" value="false"/>
- <param name="~/play_motion_module/feedback_watchdog_time_s" value="20"/>
- <param name="~/play_motion_module/rate_hz" value="10"/>
- <param name="~/play_motion_module/timeout_s" value="10"/>
- <param name="~/play_motion_module/enabled" value="true"/>
- </node>
-
- <!-- launch dynamic reconfigure -->
- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>
+ <include file="$(find play_motion_client)/launch/play_motion_client.launch">
</launch>
diff --git a/src/play_motion_client_alg_node.cpp b/src/play_motion_client_alg_node.cpp
index 766125f..4bea899 100644
--- a/src/play_motion_client_alg_node.cpp
+++ b/src/play_motion_client_alg_node.cpp
@@ -3,7 +3,7 @@
PlayMotionClientAlgNode::PlayMotionClientAlgNode(void) :
algorithm_base::IriBaseAlgorithm<PlayMotionClientAlgorithm>(),
- play_motion("play_motion_module")
+ play_motion("play_motion_module",ros::this_node::getName())
{
//init class attributes if necessary
//this->loop_rate_ = 2;//in [Hz]
--
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