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jsk-ros-pkg / jsk_pr2eus

PR2 euslisp packages
https://github.com/jsk-ros-pkg/jsk_pr2eus
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When Simulator mode, controller-type doesn't affect #135

Closed aginika closed 9 years ago

aginika commented 9 years ago

When I set the controller-type at init like (instance baxter-interface :init :type :larm-controller) or (instance pr2-interface :init :type :larm-controller), I expect the baxter or pr2 will move only their larm, but it doesn't.

Around below code? https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/robot-interface.l#L278

Test code is like below

For baxter

(setq *ri* (instance baxter-interface :type :larm-controler))
(setq *baxter* (instance baxter-robot :init))
(send *baxter* :untuck-pose)
(send *ri* :angle-vector (send *baxter* :angle-vector) 5000)

For pr2

(setq *ri* (instance pr2-interface :type :larm-controler))
(setq *pr2* (instance pr2-robot :init))
(send *pr2* :reset-manip-pose)
(send *ri* :angle-vector (send *pr2* :angle-vector) 5000)
wkentaro commented 9 years ago

This will be solved via https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/140