Commit c58516af authored by Olivier Stasse's avatar Olivier Stasse

Adapt to roscontrol

parent e92bf3f5
......@@ -84,6 +84,8 @@ robotpkg-roscontrol-sot-dubnium:
- git pull
- cd /root/robotpkg/wip/roscontrol-sot
- dpkg --purge robotpkg-talos-pal-hardware-interfaces robotpkg-talos-ros-control robotpkg-talos-ros-controllers
- dpkg --purge ros-indigo-ros-control ros-indigo-controller-manager-tests ros-indigo-controller-manager ros-indigo-controller-interface
- dpkg --purge ros-indigo-joint-limits-interface ros-indigo-hardware-interface
- export ROS_PACKAGE_PATH=/opt/pal/dubnium/share:$ROS_PACKAGE_PATH
- export PKG_CONFIG_PATH=/opt/pal/dubnium/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig:/opt/openrobots/lib/pkgconfig
- echo "MASTER_REPOSITORY = git ${CI_PROJECT_DIR}" >> Makefile
......
......@@ -226,6 +226,8 @@ namespace sot_controller
return false ;
}
ROS_INFO_STREAM("Initialization of interfaces for sot-controller Ok !");
#ifdef CONTROLLER_INTERFACE_KINETIC
hardware_interface::InterfaceResources iface_res;
iface_res.hardware_interface = hardware_interface::internal::demangledTypeName<PositionJointInterface>();
iface_res.resources = pos_iface_->getClaims();
......@@ -240,6 +242,15 @@ namespace sot_controller
displayClaimedResources(claimed_resources);
effort_iface_->clearClaims();
#else
claimed_resources = pos_iface_->getClaims();
displayClaimedResources(claimed_resources);
pos_iface_->clearClaims();
claimed_resources = effort_iface_->getClaims();
displayClaimedResources(claimed_resources);
effort_iface_->clearClaims();
#endif
ROS_INFO_STREAM("Initialization of sot-controller Ok !");
// success
......
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