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[jsk_footstep_planner] fix optimistic_footstep_planner to work #754

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[jsk_footstep_planner] fix optimistic_footstep_planner to work #754

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b950136
[jsk_footstep_planner] fix optimistic_footstep_planner to work
Naoki-Hiraoka Nov 19, 2020
f85a095
Merge branch 'master' into fix-optimisic-planner
k-okada May 11, 2021
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65 changes: 34 additions & 31 deletions jsk_footstep_planner/launch/cppplanner/optimistic_footstep_planner.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -38,20 +38,23 @@
<group if="$(arg USE_CONTROLLER)" >
<node pkg="jsk_footstep_controller" type="simple-footstep-controller.l" name="simple_footstep_controller"
output="screen" if="$(arg USE_SIMPLE_FOOTSTEP_CONTROLLER)">
<env name="ROBOT" value="$(arg ROBOT)"/>
</node>
<node pkg="jsk_footstep_controller" type="footstep-controller.l" name="footstep_controller"
output="screen" unless="$(arg USE_SIMPLE_FOOTSTEP_CONTROLLER)">
<rosparam subst_value="true">
interruptible_mode: ":semi-interruptible"
auto_lookground: false
</rosparam>
<env name="ROBOT" value="$(arg ROBOT)"/>
</node>
<node pkg="jsk_footstep_controller" type="footstep-refinement.l"
name="footstep_refinement" if="false">
<remap from="planner_result" to="footstep_planner/result_non_refined"/>
<remap from="refined_footstep_result" to="footstep_planner/result" />
</node>
<node pkg="jsk_footstep_controller" type="gui-client.l" name="gui_client">
<env name="ROBOT" value="$(arg ROBOT)"/>
</node>
</group>

Expand Down Expand Up @@ -95,37 +98,37 @@
<remap from="/urdf_model_marker/robot/reset_joint_states" to="joint_states_throttle/output" />
<rosparam>
model_config:
- name: "robot"
frame-id: "/robot_marker_root"
robot: false
mode: "visualization"
# mode: "registration"
use_robot_description: true
scale: 1.0
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
offset:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
fixed_link:
- "lleg_end_coords"
- "rleg_end_coords"
display: true
- name: "robot"
frame-id: "/robot_marker_root"
robot: false
mode: "visualization"
# mode: "registration"
use_robot_description: true
scale: 1.0
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
offset:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
fixed_link:
- "lleg_end_coords"
- "rleg_end_coords"
display: true
</rosparam>
<param name="use_dynamic_tf" value="true"/>
</node>
Expand Down