Simplifying param_server

Informations in param_server provided here: https://gepgitlab.laas.fr/loco-3d/sot-talos-balance/blob/devel/python/sot_talos_balance/control_manager_conf.py#L13

is already available here:

https://github.com/stack-of-tasks/sot-talos/blob/bcbf29743b4edb740d1b2e5820d94c5da7b7e974/src/dynamic_graph/sot/talos/talos.py#L83

without hardcoded package.

mentioned in issue #50 (closed)

@ostasse then, in the file you linked, these lines

urdfPath = rospack.get_path('talos_data')+"/urdf/talos_reduced.urdf"
urdfDir = [rospack.get_path('talos_data')+"/../"]

should be changed to

self.urdfPath = rospack.get_path('talos_data')+"/urdf/talos_reduced.urdf"
self.urdfDir = [rospack.get_path('talos_data')+"/../"]

because as things stand those two variables are just local variables of the constructor, not instance variables. They are not available for reading

Good point !

Anyhow, I those two lines and I used them to replace the hard-coded package (I needed because I was not on /opt/openrobots) and it works.

This change is on my fork, but I will push it very soon (see https://gepgitlab.laas.fr/gbuondon/sot-talos-balance/blob/topic/dummywp/python/sot_talos_balance/talos/parameter_server_conf.py).

Thanks for this issue! I consider it closed, but feel free to reopen it

closed