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/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -48,7 +48,8 @@ class GraspController:
    def init_robot_connection(self):
        self.arm = PandaArmClient()
        self.gripper = PandaGripperClient()
-        self.cartesian_vel_pub = rospy.Publisher("command", Twist, queue_size=10)
+        topic = rospy.get_param("cartesian_velocity_controller/topic")
+        self.cartesian_vel_pub = rospy.Publisher(topic, Twist, queue_size=10)

    def init_moveit(self):
        self.moveit = MoveItClient("panda_arm")