Read cartesian controller topic from rosparam

2021-11-24 11:34:12 +01:00
parent 2e1f3eb4a7
commit bcd270414f
4 changed files with 9 additions and 3 deletions
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -156,7 +156,8 @@ class CartesianVelocityControllerPlugin(Plugin):
        super().__init__(rate)
        self.arm = arm
        self.model = model
-        rospy.Subscriber("command", Twist, self.target_cb)
+        topic = rospy.get_param("cartesian_velocity_controller/topic")
+        rospy.Subscriber(topic, Twist, self.target_cb)

    def target_cb(self, msg):
        self.dx_d = from_twist_msg(msg)