Merge pull request #22 from ROBOTIS-GIT/develop
changed a button to operate
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commit
5dc8dca9b1
@ -36,8 +36,8 @@ void torqueOff(const std::string& body_side);
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enum ControlModule
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{
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None = 0,
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Framework = 1,
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DirectControlModule = 2,
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DirectControlModule = 1,
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Framework = 2,
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};
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const int SPIN_RATE = 30;
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@ -116,17 +116,17 @@ int main(int argc, char **argv)
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void buttonHandlerCallback(const std_msgs::String::ConstPtr& msg)
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{
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// starting demo using robotis_controller
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if (msg->data == "start")
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if (msg->data == "mode")
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{
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control_module = Framework;
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ROS_INFO("Button : start | Framework");
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ROS_INFO("Button : mode | Framework");
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readyToDemo();
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}
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// starting demo using direct_control_module
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else if (msg->data == "mode")
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else if (msg->data == "start")
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{
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control_module = DirectControlModule;
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ROS_INFO("Button : mode | Direct control module");
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ROS_INFO("Button : start | Direct control module");
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readyToDemo();
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}
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// torque on all joints of ROBOTIS-OP3
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