From 600830398588579df42d760895a8042fa839db9b Mon Sep 17 00:00:00 2001
From: gggg <marko.guberina@control.lth.se>
Date: Wed, 11 Dec 2024 13:41:09 +0100
Subject: [PATCH] jj
---
python/examples/smc_yumi_challenge.py | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/python/examples/smc_yumi_challenge.py b/python/examples/smc_yumi_challenge.py
index 15f442c..835fb36 100644
--- a/python/examples/smc_yumi_challenge.py
+++ b/python/examples/smc_yumi_challenge.py
@@ -13,6 +13,7 @@ from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager,
from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL, controlLoopCompliantClik, invKinmQP, moveLDualArm
from ur_simple_control.optimal_control.get_ocp_args import get_OCP_args
from ur_simple_control.optimal_control.crocoddyl_mpc import CrocoIKMPC
+import pinocchio as pin
def get_args():
@@ -33,9 +34,9 @@ class ROSCommHandlerMYumi(Node):
self._ns = get_rosified_name(self.get_namespace())
self.get_logger().info(f"### Starting dummy example under namespace {self._ns}")
- self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}/platform/base_command", 1)
- self.pub_vel_left = self.create_publisher(JointState, f"{self._ns}/platform/left_arm_command", 1)
- self.pub_vel_right = self.create_publisher(JointState, f"{self._ns}/platform/right_arm_command", 1)
+ self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/base_command", 1)
+ self.pub_vel_left = self.create_publisher(JointState, f"{self._ns}platform/left_arm_command", 1)
+ self.pub_vel_right = self.create_publisher(JointState, f"{self._ns}platform/right_arm_command", 1)
robot_manager.set_publisher_vel_base(self.pub_vel_base)
robot_manager.set_publiser_vel_left(self.pub_vel_left)
robot_manager.set_publiser_vel_right(self.pub_vel_right)
@@ -53,9 +54,9 @@ class ROSCommHandlerMYumi(Node):
# MASSIVE TODO: you want to be subsribed to a proper localization thing,
# specifically to output from robot_localization
- self.sub_base_odom = self.create_subscription(Odometry, f"{self._ns}/platform/odometry", self.callback_base_odom, qos_prof)
+ self.sub_base_odom = self.create_subscription(Odometry, f"{self._ns}platform/odometry", self.callback_base_odom, qos_prof)
# self.sub_amcl = self.create_subscription(PoseWithCovarianceStamped, '/amcl_pose', self.pose_callback, qos_prof)
- self.sub_arms_state = self.create_subscription(JointState, f"{self._ns}/platform/joint_states", self.callback_arms_state, qos_prof)
+ self.sub_arms_state = self.create_subscription(JointState, f"{self._ns}platform/joint_states", self.callback_arms_state, qos_prof)
self.names_left = {f"{self._ns}_yumi_robl_joint_{i+1}": i for i in range(7)}
self.state_left = JointState(name=list(sorted(self.names_left.keys())),
position=[0] * 7,
--
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