diff --git a/launch/play_motion_client.launch b/launch/tiago_play_motion_client.launch similarity index 58% rename from launch/play_motion_client.launch rename to launch/tiago_play_motion_client.launch index 977318fd21b2673202681d497797618b08401e1e..738b3d122741b58720af04eabac611186d9f6cb8 100644 --- a/launch/play_motion_client.launch +++ b/launch/tiago_play_motion_client.launch @@ -1,15 +1,15 @@ <launch> <!-- launch the play motion client node --> - <node name="play_motion_client" - pkg="play_motion_client" - type="play_motion_client" + <node name="tiago_play_motion_client" + pkg="tiago_play_motion_module" + type="tiago_play_motion_client" output="screen" ns="/tiago"> <remap from="~/play_motion_module/play_motion" to="/play_motion"/> - <rosparam file="$(find tiago_modules)/config/play_motion_module_default.yaml" command="load" ns="play_motion_module" /> + <rosparam file="$(find tiago_play_motion_module)/config/tiago_play_motion_module_default.yaml" command="load" ns="play_motion_module" /> </node> <!-- launch dynamic reconfigure --> diff --git a/launch/play_motion_client_sim.launch b/launch/tiago_play_motion_client_sim.launch similarity index 66% rename from launch/play_motion_client_sim.launch rename to launch/tiago_play_motion_client_sim.launch index 610963369886b94f01e9f080371e078d79a7cbff..f1531f952bbe720d3cd947869281eb86f6e8af56 100644 --- a/launch/play_motion_client_sim.launch +++ b/launch/tiago_play_motion_client_sim.launch @@ -5,7 +5,7 @@ <arg name="robot" value="steel" /> </include> - <include file="$(find play_motion_client)/launch/play_motion_client.launch"/> + <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch"/> </launch> diff --git a/src/tiago_play_motion_module.cpp b/src/tiago_play_motion_module.cpp index 27ddbb606fcc76ca7129246d972442c5f0d1f473..4ecd1a808b6a580fd80eec0f103e2a42ae557877 100644 --- a/src/tiago_play_motion_module.cpp +++ b/src/tiago_play_motion_module.cpp @@ -2,7 +2,7 @@ CTiagoPlayMotionModule::CTiagoPlayMotionModule(const std::string &name,const std::string &name_space) : CModule(name,name_space), - tiago_play_motion_action("tiago_play_motion",this->module_nh.getNamespace()) + tiago_play_motion_action("play_motion",this->module_nh.getNamespace()) { this->start_operation(); @@ -109,25 +109,11 @@ void CTiagoPlayMotionModule::reconfigure_callback(tiago_play_motion_module::Tiag void CTiagoPlayMotionModule::execute_motion(std::string motion_name) { - XmlRpc::XmlRpcValue symbols; - - if(!ros::param::get(this->config.motions_param_path.c_str(), symbols)) - return; - else - { - if(symbols.getType()==XmlRpc::XmlRpcValue::TypeArray) - return; - for (XmlRpc::XmlRpcValue::iterator i=symbols.begin(); i!=symbols.end(); ++i) - { - std::cout << i->second << std::endl; - } - } -/* std::string motion; if(this->is_finished()) { - if(this->module_nh.getParam("/play_motion/motions/" + motion_name + "/meta/name", motion)) //If motion exists + if(this->module_nh.getParam(this->config.motions_param_path + "/" + motion_name + "/meta/name", motion)) //If motion exists { this->goal.motion_name=motion_name; this->goal.skip_planning=false; @@ -139,7 +125,7 @@ void CTiagoPlayMotionModule::execute_motion(std::string motion_name) ROS_WARN("CTiagoPlayMotionModule: Motion name does not exist"); this->status=TIAGO_PLAY_MOTION_MODULE_INVALID_ID; } - }*/ + } } void CTiagoPlayMotionModule::stop(void)