Commit 926f7b59 authored by Olivier Stasse's avatar Olivier Stasse

[sot_pyrene_bringup] Add dt information and prefix for rostopic publication.

parent f3d1720c
......@@ -6,6 +6,8 @@
<arg name="robot" default="pyrene" />
<arg name="libsot" default="libsot-pyrene-controller.so" />
<arg name="sot-launch-prefix" default="" />
<include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="libsot" value="$(arg libsot)" />
......@@ -16,7 +18,8 @@
name="node_stack_of_tasks"
pkg="dynamic_graph_bridge"
type="geometric_simu"
args=" --input-file $(arg libsot)"
args=" --input-file $(arg libsot)"
launch-prefix="$(arg sot-launch-prefix)"
respawn="true">
<param name="/sot/dg/geometric_simu" value="" />
</node>
......
......@@ -17,3 +17,5 @@ sot:
gripper_right_motor_single_joint: -gripper_right_joint,
gripper_right_inner_single_joint: -gripper_right_joint,
gripper_right_fingertip_3_joint: -gripper_right_joint}
sot_controller:
dt: 0.001
\ No newline at end of file
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