From 61231e1e1174ff59a6fff7e4ea8c43f63e467f5a Mon Sep 17 00:00:00 2001 From: RonaldsonBellande Date: Mon, 13 Nov 2023 18:46:48 -0500 Subject: [PATCH] latest pushes --- ...ntelligence_control_system_bringup.launch} | 0 ...ntrol_system_bringup_visualization.launch} | 0 .../src/demo_node.cpp | 29 ++++++++++++------- ...lligence_control_system_read_write.launch} | 0 4 files changed, 18 insertions(+), 11 deletions(-) rename humanoid_robot_intelligence_control_system_bringup/launch/{humanoid_robot_bringup.launch => humanoid_robot_intelligence_control_system_bringup.launch} (100%) rename humanoid_robot_intelligence_control_system_bringup/launch/{humanoid_robot_bringup_visualization.launch => humanoid_robot_intelligence_control_system_bringup_visualization.launch} (100%) rename humanoid_robot_intelligence_control_system_read_write_demo/launch/{humanoid_robot_read_write.launch => humanoid_robot_intelligence_control_system_read_write.launch} (100%) diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch similarity index 100% rename from humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch similarity index 100% rename from humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch diff --git a/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp index 7df1268..523b62a 100644 --- a/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp +++ b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp @@ -71,20 +71,25 @@ int main(int argc, char **argv) { ros::NodeHandle nh(ros::this_node::getName()); - init_pose_pub = - nh.advertise("/humanoid_robot_intelligence_control_system/base/ini_pose", 0); + init_pose_pub = nh.advertise( + "/humanoid_robot_intelligence_control_system/base/ini_pose", 0); play_sound_pub = nh.advertise("/play_sound_file", 0); - led_pub = nh.advertise( - "/humanoid_robot_intelligence_control_system/sync_write_item", 0); - dxl_torque_pub = - nh.advertise("/humanoid_robot_intelligence_control_system/dxl_torque", 0); + led_pub = + nh.advertise( + "/humanoid_robot_intelligence_control_system/sync_write_item", 0); + dxl_torque_pub = nh.advertise( + "/humanoid_robot_intelligence_control_system/dxl_torque", 0); ros::Subscriber buttuon_sub = - nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, buttonHandlerCallback); + nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", + 1, buttonHandlerCallback); ros::Subscriber mode_command_sub = - nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command", 1, demoModeCommandCallback); + nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command", + 1, demoModeCommandCallback); default_mp3_path = - ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/"; + ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + + "/data/mp3/"; ros::start(); @@ -92,7 +97,8 @@ int main(int argc, char **argv) { ros::Rate loop_rate(SPIN_RATE); // wait for starting of manager - std::string manager_name = "/humanoid_robot_intelligence_control_system_manager"; + std::string manager_name = + "/humanoid_robot_intelligence_control_system_manager"; while (ros::ok()) { ros::Duration(1.0).sleep(); @@ -272,7 +278,8 @@ void playSound(const std::string &path) { } void setLED(int led) { - humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg; + humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem + syncwrite_msg; syncwrite_msg.item_name = "LED"; syncwrite_msg.joint_name.push_back("open-cr"); syncwrite_msg.value.push_back(led); diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch similarity index 100% rename from humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch rename to humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch