corrected python launch file

Ensmasteel · Apr 29, 2024 · 40bcb6a · 40bcb6a
1 parent 674118e
commit 40bcb6a
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/actuators_rppico_hardware_interface/CMakeLists.txt b/actuators_rppico_hardware_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(actuators_rppico_h_i LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra )
+  add_compile_options(-Wall -Wextra -Wno-unused-variable)
 endif()
 
 # find dependencies

diff --git a/src/ezbot_robot/launch/real_robot.launch.py b/src/ezbot_robot/launch/real_robot.launch.py
@@ -88,8 +88,16 @@ def generate_launch_description():
 
     actuators_spawner = Node(
         package='controller_manager',
+        executable='spawner',
+        arguments=['actuator_controller'],
+    )
 
+    delayed_actuators_spawner = TimerAction(
+        period=1.0,
+        actions=[actuators_spawner],
     )
+
+
     imu_node =   Node(
             package='ros_qwiic_icm_20948',
             executable='ros_qwiic_icm_20948',
@@ -133,6 +141,7 @@ def generate_launch_description():
         delayed_joint_broad_spawner,
         imu_node,
         delayed_imu_filter,
+        delayed_actuators_spawner,
         #joystick,
 
     ])