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] -- GitLab