Commit efe88adb authored by Olivier Stasse's avatar Olivier Stasse

Add verbosity level read from rosparam

parent 76e8a3cc
This diff is collapsed.
......@@ -150,8 +150,7 @@ namespace sot_controller
/// \brief The robot can controlled in effort or position mode (default).
SotControlMode control_mode_;
/// \brief Implement a PD controller for the robot when the dynamic graph
/// is not on.
std::map<std::string, EffortControlPDMotorControlData> effort_mode_pd_motors_;
......@@ -176,6 +175,10 @@ namespace sot_controller
/// Jitter for the subsampling.
double jitter_;
/// \brief Verbosity level for ROS messages during initRequest/initialization phase.
/// 0: no messages or error 1: info 2: debug
bool verbosity_level_;
/// URDF model of the robot.
urdf::ModelInterfaceSharedPtr modelURDF_;
......@@ -248,6 +251,9 @@ namespace sot_controller
/// \brief Read the control period.
bool readParamsdt(ros::NodeHandle & robot_nh);
/// \brief Read verbosity level to display messages mostly during initialization
void readParamsVerbosityLevel(ros::NodeHandle &robot_nh);
/// \brief Fill the SoT map structures
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