[jsk_spot_startup] update sample_elevator demo

k-okada · Nov 22, 2023 · 6ad6ce3 · 6ad6ce3
1 parent 4f75b8c
commit 6ad6ce3
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py
@@ -1,10 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import rospy
 from spot_ros_client.libspotros import SpotRosClient
 import actionlib
 from jsk_spot_behavior_msgs.msg import NavigationAction
-from jsk_spot_behavior_msgs.msg import NavigationActionGoal
+from jsk_spot_behavior_msgs.msg import NavigationGoal
 
 
 if __name__ == '__main__':
@@ -19,10 +19,10 @@
     client.power_on()
     client.undock()
 
-    behavior_client.send_goal_and_wait(NavigationActionGoal(target_node_id="eng2_3FElevator"))
+    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_3FElevator"))
     result = behavior_client.get_result()
 
-    behavior_client.send_goal_and_wait(NavigationActionGoal(target_node_id="eng2_73B2_dock"))
+    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_73B2_dock"))
     result = behavior_client.get_result()
 
     client.dock(521)
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.xml b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.xml
@@ -1,5 +1,5 @@
 <launch>
-  <node pkg="jsk_spot_startup" type="sample_elevator.py" name="sample_elevator"/>
+  <node pkg="jsk_spot_startup" type="sample_elevator.py" name="sample_elevator" output="screen" required="True"/>
 
   <include
       file="$(find jsk_spot_behavior_manager)/launch/demo.launch"