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(hironx_client.py) Fix https://github.com/start-jsk/rtmros_hironx/issues/45 #51

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Mar 7, 2014
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(hironx_client.py) Fix https://github.com/start-jsk/rtmros_hironx/issues/45 #51

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2 changes: 2 additions & 0 deletions hironx_ros_bridge/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,11 @@

<buildtool_depend>catkin</buildtool_depend>

<build_depend version_gte="315.1.8">hrpsys</build_depend> <!-- See https://github.com/tork-a/rtmros_nextage/issues/51. Even though hrpsys is transitively depended via hrpsys_ros_bridge, still define it here explicitly to clarify, especially the version dependency. -->
<build_depend>hrpsys_ros_bridge</build_depend> <!-- Needed to transitively depend on openhrp3. See https://github.com/start-jsk/rtmros_hironx/pull/30#commitcomment-5535604 -->
<build_depend>unzip</build_depend>

<run_depend version_gte="315.1.8">hrpsys</run_depend> <!-- See https://github.com/tork-a/rtmros_nextage/issues/51 -->
<run_depend>hrpsys_ros_bridge</run_depend>

<!-- <test_depend>hrpsys_ros_bridge</test_depend> -->
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7 changes: 5 additions & 2 deletions hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
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Expand Up @@ -839,7 +839,7 @@ class level. Please consider opening an enhancement ticket for that
return HrpsysConfigurator.setJointAnglesOfGroup(self, gname, pose, tm,
wait)

def setTargetPose(self, gname, pos, rpy, tm):
def setTargetPose(self, gname, pos, rpy, tm, ref_frame_name=None):
'''
@see: HrpsysConfigurator.setTargetPose

Expand All @@ -850,8 +850,11 @@ def setTargetPose(self, gname, pos, rpy, tm):
@type pos: float
@type rpy: TODO: ??
@rtype: bool
@type ref_frame_name: str
@param ref_frame_name: Name of the frame that this particular command
reference to.
'''
return HrpsysConfigurator.setTargetPose(self, gname, pos, rpy, tm)
return HrpsysConfigurator.setTargetPose(self, gname, pos, rpy, tm, ref_frame_name)

def setTargetPoseRelative(self, gname, eename, dx=0, dy=0, dz=0,
dr=0, dp=0, dw=0, tm=10, wait=True):
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