Add collision detection input param and test file

start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages

http://wiki.ros.org/rtmros_hironx

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Add collision detection input param and test file #512

Open yswhynot opened 7 years ago

k-okada commented 7 years ago

nice work, to keep backward compatibility, specially for real hardware, which do not have collision detection module at this moment (Pending at https://github.com/start-jsk/rtmros_hironx/issues/423) ,

'+ ' in hironx_startup.launch is ok, because that is only used in real robot
set False at https://github.com/start-jsk/rtmros_hironx/pull/512/files#diff-f9592097d70ddcac8ad91644f3717047R322, whcih is used for both real and simulated robot
add HRPSYS_PY_ARGS at -> https://github.com/start-jsk/rtmros_hironx/pull/512/files#diff-c61d113b474992382cc835f0eff0f44eR10 to turn on collision detection feature

yswhynot commented 7 years ago

Hi @k-okada I've updated the files but I'm not quite sure about

add HRPSYS_PY_ARGS at -> https://github.com/start-jsk/rtmros_hironx/pull/512/files#diff-c61d113b474992382cc835f0eff0f44eR10 to turn on collision detection feature

what kind of args I need to put down?

k-okada commented 7 years ago

@yswhynot sorry for late, see https://github.com/start-jsk/rtmros_hironx/pull/515, https://github.com/start-jsk/rtmros_hironx/pull/515/files#diff-c61d113b474992382cc835f0eff0f44eR12 and https://github.com/start-jsk/rtmros_hironx/pull/515/files#diff-e6c464699b21a40e8b15aeb08c09a80dR65 to enable collision detection

yswhynot commented 7 years ago

@k-okada Oh it's been merged already, so I guess I can close this PR?

k-okada commented 7 years ago

@yswhynot yes, you can close this PR, and I also create new PR based on your contribution at https://github.com/start-jsk/rtmros_hironx/pull/515, this will run with collision detection enabled by roslaunch hironx_ros_bridge hironx_startup.launch