From 40bcb6a60305751df1abcced37dcb369e62f6a26 Mon Sep 17 00:00:00 2001 From: Vincent Belpois Date: Mon, 29 Apr 2024 23:39:47 +0200 Subject: [PATCH] corrected python launch file --- actuators_rppico_hardware_interface/CMakeLists.txt | 2 +- src/ezbot_robot/launch/real_robot.launch.py | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/actuators_rppico_hardware_interface/CMakeLists.txt b/actuators_rppico_hardware_interface/CMakeLists.txt index 6500ee7..7a0acdf 100644 --- 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 index 36b156a..cffad21 100644 --- 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, ]) \ No newline at end of file