Commit eef5b595 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Publish state of the robot through RosPublish

parent f5b28288
Pipeline #2342 failed with stage
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......@@ -34,6 +34,13 @@ sot = SOT('sot')
from dynamic_graph.ros import RosPublish
ros_publish_state = RosPublish ("ros_publish_state")
ros_publish_state.add ("vector", "state", "/sot_control/state")
from dynamic_graph import plug
plug (robot.device.state, ros_publish_state.state)
robot.device.after.addDownsampledSignal ("ros_publish_state.trigger", 100)
#target = (0.5,-0.2,1.0)
#addRobotViewer(robot, small=False)
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