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Viewing changes to sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp

  • Committer: Ugo Cupcic
  • Date: 2012-07-27 09:19:40 UTC
  • mfrom: (377.1.1 shadow_robot)
  • Revision ID: ugo@shadowrobot.com-20120727091940-xyoouj843k0kc434
Corrected small issues to get manip stack working with this new stack (missing files and setups)

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sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp
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  joint_labels.push_back("WRJ1");
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  //look for controllers and build controller name to joint map
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  if( ros::service::waitForService("sr_controller_manager/list_controllers",4) )
 
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  if( ros::service::waitForService("sr_controller_manager/list_controllers",20000) )
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  {
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    use_sendupdate=false;
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    ros::ServiceClient controller_list_client = nh.serviceClient<pr2_mechanism_msgs::ListControllers>("sr_controller_manager/list_controllers");
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  }
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  ROS_INFO("waiting for getJointState");
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  if( ros::service::waitForService("getJointState",4))
 
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  if( ros::service::waitForService("getJointState",20000))
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  {
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    // open persistent link to joint_state service
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    joint_state_client = nh.serviceClient<sr_utilities::getJointState>("getJointState",true);