Commit 9dd2e8a2 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix previous wrong commit.

parent f210e5f7
Pipeline #6282 failed with stage
in 1 minute and 45 seconds
......@@ -1055,27 +1055,6 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
sotController_->setupSetSensors(sensorsIn_);
} catch(std::exception &e) { throw e;}
}
void RCSotController::
stopping(const ros::Time &)
{
std::string afilename("/tmp/sot.log");
RcSotLog_.save(afilename);
/// Generate a control law.
try {
sotController_->nominalSetSensors(sensorsIn_);
} catch (std::exception &e) {
throw e;
}
// But in effort mode it means that we are sending 0
// Therefore implements a default PD controller on the system.
// Applying both to handle mixed system.
localStandbyEffortControlMode(period);
localStandbyVelocityControlMode(period);
localStandbyPositionControlMode();
}
}
void RCSotController::starting(const ros::Time &) {
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment