BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

- fixed typo

Browse Source
This commit is contained in:
Zerom
2018-04-10 18:05:08 +09:00
parent 45b088e30a
commit 6310436bb6
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@@ -1648,12 +1648,12 @@ void RobotisController::setJointStatesCallback(const sensor_msgs::JointState::Co
if ((controller_mode_ == DirectControlMode) ||
(controller_mode_ == MotionModuleMode && dxl->ctrl_module_name_ == "none"))
{
dxl->dxl_state->goal_position_ = (double) msg->position[i];
dxl->dxl_state_->goal_position_ = (double) msg->position[i];
if (gazebo_mode_ == false)
{
// add offset
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state->goal_position_ + dxl->dxl_state->position_offset_);
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));