BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #71 from ROBOTIS-GIT/feature_gazebo_bug_fixed

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- gazebo bug fixed (when ctrl_module_name_ == "none")
This commit is contained in:
zerom
2018-12-20 16:58:08 +09:00
committed by GitHub
parent 7b7250c4e5 edde9d26cb
commit 9e37fc645c
1 changed files with 15 additions and 2 deletions
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17
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -1097,13 +1097,26 @@ void RobotisController::process()
}
else if (gazebo_mode_ == true)
{
std_msgs::Float64 joint_msg;
for (auto& dxl_it : robot_->dxls_)
{
std::string joint_name = dxl_it.first;
Dynamixel *dxl = dxl_it.second;
DynamixelState *dxl_state = dxl_it.second->dxl_state_;
if (dxl->ctrl_module_name_ == "none")
{
joint_msg.data = dxl_state->goal_position_;
gazebo_joint_position_pub_[joint_name].publish(joint_msg);
}
}
for (auto module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
{
if ((*module_it)->getModuleEnable() == false)
continue;
std_msgs::Float64 joint_msg;
for (auto& dxl_it : robot_->dxls_)
{
std::string joint_name = dxl_it.first;