From e4560097c8c89436f996ad8f6f93ac3ebd00f09e Mon Sep 17 00:00:00 2001 From: Simon Rasmussen Date: Fri, 7 Jul 2017 19:15:35 +0200 Subject: [PATCH] Parameter parsing --- src/ros/trajectory_follower.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/ros/trajectory_follower.cpp b/src/ros/trajectory_follower.cpp index 78d448e..0093cba 100644 --- a/src/ros/trajectory_follower.cpp +++ b/src/ros/trajectory_follower.cpp @@ -74,6 +74,11 @@ TrajectoryFollower::TrajectoryFollower(URCommander &commander, std::string& reve , servoj_gain_(300.) , server_(reverse_port) { + ros::param::get("~servoj_time", servoj_time_); + ros::param::get("~servoj_lookahead_time", servoj_lookahead_time_); + ros::param::get("~servoj_gain", servoj_gain_); + + std::string res(POSITION_PROGRAM); res.replace(res.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_)); @@ -83,17 +88,15 @@ TrajectoryFollower::TrajectoryFollower(URCommander &commander, std::string& reve out << ", lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_; res.replace(res.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str()); + res.replace(res.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), reverse_ip); + res.replace(res.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port_)); + program_ = res; if(!server_.bind()) { LOG_ERROR("Failed to bind server, the port %d is likely already in use", reverse_port); std::exit(-1); } - - res.replace(res.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), reverse_ip); - res.replace(res.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port_)); - - program_ = res; } bool TrajectoryFollower::start()