Temp review #14
Temp review #14
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Stairs gait
Multi robot launch
README.md
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| @@ -65,3 +65,57 @@ chmod a+x session.yml | |||
| ``` | |||
| Now tmux session will start with all required tabs. All required commandsmay be added to the history, in order to simplify their usage. | |||
| @@ -10,8 +16,6 @@ RUN apt-get update && apt-get install -y \ | |||
| ros-melodic-joint-state-publisher-gui \ | |||
| ros-melodic-interactive-marker-twist-server \ | |||
| ros-melodic-robot-state-publisher \ | |||
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It is better to move this installation to package.xml
rs_control/scripts/talker.py
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| rospy.loginfo_once("Started Forward Kinematics") | ||
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| for i in range(len(standard_position_seq)): |
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As for me, in Python better to use next approach
for position in standard_position_seq:
time.sleep(2.1)
spot.talker(pose_dict[position[i]])
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Thanks, I have done so
rs_control/scripts/talker.py
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| def myhook(): | ||
| pass | ||
| rospy.loginfo_once("Finished Forward Kinematics") | ||
| pass |
| <!-- <arg name="world_name" default="$(find rs_gazebo)/worlds/ss_hq4.world" /> --> | ||
| <arg name="world_name" default="empty.world" /> - | ||
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| <arg name="world_name" default= "$(find rs_gazebo)/worlds/$(arg world)" /> |
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Please specify the default argument world, otherwise, the launch file will be broken if arg world is not specififed
rs_gazebo/worlds/stairs_only.world
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| <!--</attenuation>--> | ||
| <!--<direction>-0.5 0.1 -0.9</direction>--> | ||
| </light> | ||
| <model name='ground_plane'>gazebo.launch |
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Please check this line. looks like it has errors
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It is typo, thanks.
rs_inverse/scripts/env_tester.py
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| if __name__ == '__main__': | ||
| try: | ||
| main() | ||
| rospy.on_shutdown(myhook) |
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In a single-threaded script, you don't need this hook as it is set only after the main function is fully executed.
It makes set to set on_shutdown hook before calling the main function. The hook is used to clear some variables, send notifications, etc.
rs_inverse/scripts/gui_spot.py
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| @@ -24,6 +22,8 @@ def __init__(self, win, pub): | |||
| self.lbl11 = Label(win, text='ClearanceHeight') | |||
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all these variables should have meaningful names, as they are used in different places
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