From d98733692768c2971d8c97d9fec0df7279d687fc Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Thu, 20 Dec 2018 21:29:39 +0900 Subject: [PATCH] Do not load force-moment offset in simulation mode --- .../euslisp/hironxjsk-interface.l | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l index ebe32fe4..a0561444 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l @@ -24,11 +24,12 @@ (send self :add-controller (read-from-string (format nil "~A-controller" limb)) :joint-enable-check t :create-actions t)) ;; Load param to erase offset of force moment sensor - (send self :load-forcemoment-offset-param - (format nil "~A/models/~A-force-moment-offset.l" - (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials") - (send robot :name)) - :set-offset t))) + (unless (send self :simulation-modep) + (send self :load-forcemoment-offset-param + (format nil "~A/models/~A-force-moment-offset.l" + (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials") + (send robot :name)) + :set-offset t)))) (:define-all-ROSBridge-srv-methods (&key (debug-view nil) (ros-pkg-name "hrpsys_ros_bridge")) ;; First, define ROSBridge method for old impedance controller