do not use https://github.com/start-jsk/rtmros_common/pull/1095 #4
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default-controller returens list of possible controllers: https://github.com/jsk-ros-pkg/jsk_robot/blob/c161b6a87fa00a29909833bb1250c5ee96e42de6/jsk_baxter_robot/baxtereus/baxter-interface.l#L59-L63
pazeshun
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May 4, 2020
| ;; so queue size of joint_states should be two. | ||
| ;; https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.13/pr2eus/robot-interface.l#L120 | ||
| (send-super* :init :joint-states-queue-size 2 :robot robot :type | ||
| (if on-gazebo-ros-control :gazebo-ros-controller :default-controller) |
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これだと、Gazeboでは以下のように:default-controllerを明示的に指定した場合に送れなくなるのですが、僕自身:default-controllerを明示的に指定したことはあまりないので、大丈夫だとは思います。
3.irteusgl$ send *ri* :angle-vector (send *hironxjsk* :reset-manip-pose) 1000 :default-controller
;; controller-type: :default-controller not foundnil
pazeshun
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May 4, 2020
pazeshun
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Jun 26, 2020
…eal HIRONXJSK #4 (comment) includes misunderstanding
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small fix for code cleanup;
default-controller returens list of possible controllers: https://github.com/jsk-ros-pkg/jsk_robot/blob/c161b6a87fa00a29909833bb1250c5ee96e42de6/jsk_baxter_robot/baxtereus/baxter-interface.l#L59-L63,
If we follow this gudieline, I think having
(:default-controllrand(:gazebo-ros-controllerwould be ok.