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[rtm-ros-robot-interface.l] temporary fix controller action name #970

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[rtm-ros-robot-interface.l] temporary fix controller action name #970

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7 changes: 7 additions & 0 deletions hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,13 @@
#'send self :rtmros-contact-states-callback (read-from-string (format nil ":~A-contact-states" x)) :groupname groupname))
'(ref act))
))
(:default-controller ()
(list
(list
(cons :controller-action "fullbody_controller/follow_joint_trajectory_action")
(cons :controller-state "fullbody_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (mapcar #'(lambda (n) (if (symbolp n) (symbol-name n) n)) (send-all (send robot :joint-list) :name))))))
(:rtmros-motor-states-callback
(msg)
(send self :set-robot-state1 :motor-extra-data (send msg :extra_data))
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