From 8df10d5d47abd339350380634e0455591400f0cd Mon Sep 17 00:00:00 2001 From: YoheiKakiuchi Date: Tue, 18 Apr 2017 11:45:01 +0900 Subject: [PATCH] [hrpsys_ros_bridge_tutorials] some robots ignore min-max table by overwriting :init-ending method in -utils.l --- hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l | 4 +++- hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l | 2 ++ hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l | 2 ++ hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l | 2 ++ 4 files changed, 9 insertions(+), 1 deletion(-) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l index af1c60ff..d3c41f38 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l @@ -5,6 +5,8 @@ () (prog1 (send-super :init-ending) + (when (member :define-min-max-table (send self :methods)) + (send self :define-min-max-table)) ;; set force-sensor from .conf (labels ((data-string-split ;; this function will be replaced by https://github.com/euslisp/EusLisp/issues/16 (str separator) @@ -39,4 +41,4 @@ )) ))) ) - ) \ No newline at end of file + ) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l index 56a045da..31acd6a5 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l @@ -6,6 +6,8 @@ (&rest args) (prog1 (send-super* :init-ending args) + (when (member :define-min-max-table (send self :methods)) + (send self :define-min-max-table)) (send self :add-hoist-point-coords) (send self :add-shin-cushion-parts) (send self :add-shin-contact-coords) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l index 483718aa..e4382565 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l @@ -6,6 +6,8 @@ (&rest args) (prog1 (send-super* :init-ending args) + (when (member :define-min-max-table (send self :methods)) + (send self :define-min-max-table)) (send self :add-hoist-point-coords) (send self :add-shin-cushion-parts) (send self :add-shin-contact-coords) diff --git a/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l index 7a084d07..c57e7b66 100644 --- a/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l +++ b/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l @@ -66,6 +66,8 @@ (&rest args) (prog1 (send-super* :init-ending args) + (when (member :define-min-max-table (send self :methods)) + (send self :define-min-max-table)) (send self :add-additional-body-parts) ;; add contact-end-coords to arms