Use RosPublish instead of RosImport

src/sot_hpp/supervisor.py

@@ -27,7 +27,7 @@ class Supervisor(object):
     def setupEvents (self):
         from dynamic_graph_hpp.sot import Event, CompareDouble
         from dynamic_graph.sot.core.operator import Norm_of_vector
-        from dynamic_graph.ros import RosImport
+        from dynamic_graph.ros import RosPublish
         self.norm = Norm_of_vector ("control_norm")
         plug (self.sotrobot.device.control, self.norm.sin)
 
@@ -40,11 +40,11 @@ class Supervisor(object):
         # self.sotrobot.device.after.addSignal (self.norm_event.check.name)
         self.sotrobot.device.after.addSignal ("control_norm_event.check")
 
-        self.norm_ri = RosImport ('ros_import_control_norm')
-        self.norm_ri.add ('double', 'event_control_norm', '/sot_hpp/control_norm_changed')
-        plug (self.norm.sout, self.norm_ri.event_control_norm)
-        # plug (self.norm_event.trigger, self.norm_ri.trigger)
-        self.norm_event.addSignal ("ros_import_control_norm.trigger")
+        self.ros_publish = RosPublish ('ros_publish')
+        self.ros_publish.add ('double', 'event_control_norm', '/sot_hpp/control_norm_changed')
+        plug (self.norm.sout, self.ros_publish.event_control_norm)
+        # plug (self.norm_event.trigger, self.ros_publish.trigger)
+        self.norm_event.addSignal ("ros_publish_control_norm.trigger")
 
     def makeInitialSot (self):
         # Create the initial sot (keep)