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[play-hrpsysfile.l] neuro_vmになったことで *servo-state-msg* が作られない
サーボ系をneuro_vmに移行したことで/shm_servo_state
がpublishされず,https://github.com/kindsenior/control_tools/blob/master/play-hrpsysfile.l#L666 でスタックします.また,*servo-state-msg*
が作られないので,save-shm-log
などが機能しません.
現在,JAXONで広く使われているhrpsysでは
https://gitlab.jsk.imi.i.u-tokyo.ac.jp/hiraoka/auto_stabilizer_config/-/blob/master/auto_stabilizer_config/launch/hrpsys.launch#L239 で trans_status_publisher.cpp を起動しているのですが,neuro_vmを起動した場合には この分岐 に入らないので,/shm_servo_state
がpublishされません.
trans_vmでサーボshmを起動した場合は上記の分岐に入るので,/shm_servo_state
がpublishされて *servo-state-msg*
が作られます.
play-hrpsysfile.l を変更して別のトピックをsubscribeするようにすべきなのか,そもそもtrans_ros_bridgeが対応できていないという話なのか分かっていないのですが,ひとまずここに書かせていただきました.
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