From eb6abfd304ac2f9225670b95d8309d1c60c1842a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 6 Nov 2020 15:47:58 +0100
Subject: [PATCH] Updated the launch files.
---
...launch => tiago_play_motion_client.launch} | 8 ++++----
...ch => tiago_play_motion_client_sim.launch} | 2 +-
src/tiago_play_motion_module.cpp | 20 +++----------------
3 files changed, 8 insertions(+), 22 deletions(-)
rename launch/{play_motion_client.launch => tiago_play_motion_client.launch} (58%)
rename launch/{play_motion_client_sim.launch => tiago_play_motion_client_sim.launch} (66%)
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 977318f..738b3d1 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 6109633..f1531f9 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 27ddbb6..4ecd1a8 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)
--
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