From 8f9fe8341f3e20241c59b19c2fcb497566c2b60e Mon Sep 17 00:00:00 2001
From: manx52 <jonathanspraggett@gmail.com>
Date: Sun, 7 Jul 2024 15:58:10 -0400
Subject: [PATCH] wip

---
 .../src/soccer_trajectories/soccer_trajectories.py            | 4 ++--
 soccerbot/CMakeLists.txt                                      | 1 +
 soccerbot/package.xml                                         | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/soccer_trajectories/src/soccer_trajectories/soccer_trajectories.py b/soccer_trajectories/src/soccer_trajectories/soccer_trajectories.py
index bdde6bf1e..bcd14838f 100755
--- a/soccer_trajectories/src/soccer_trajectories/soccer_trajectories.py
+++ b/soccer_trajectories/src/soccer_trajectories/soccer_trajectories.py
@@ -53,8 +53,8 @@ def __init__(self, trajectory_path: str, mirror=False):
                 else:
                     joint_values = list(map(float, row[1:]))
 
-                    last_pose_value = float(rospy.get_param(f"motor_mapping/{joint_name}/initial_state"))
-                    # last_pose_value = 0.0
+                    # last_pose_value = float(rospy.get_param(f"motor_mapping/{joint_name}/initial_state"))
+                    last_pose_value = 0.0
                     # if joint_name in last_joint_state.name:
                     #     last_pose_value = last_joint_state.position[last_joint_state.name.index(joint_name)]
 
diff --git a/soccerbot/CMakeLists.txt b/soccerbot/CMakeLists.txt
index a99ecb959..672d591d4 100644
--- a/soccerbot/CMakeLists.txt
+++ b/soccerbot/CMakeLists.txt
@@ -5,6 +5,7 @@ find_package(
     catkin
     REQUIRED
     soccer_common
+    soccer_webots
     soccer_msgs
     soccer_trajectories
     soccer_object_detection
diff --git a/soccerbot/package.xml b/soccerbot/package.xml
index 8d045cf04..ad6fbd8d1 100644
--- a/soccerbot/package.xml
+++ b/soccerbot/package.xml
@@ -38,7 +38,7 @@
   <!-- Navigation-->
   <depend>soccer_trajectories</depend>
   <depend>soccer_firmware_interface</depend>
-<!--  <depend>soccer_webots</depend>-->
+  <depend>soccer_webots</depend>
   <depend>soccer_msgs</depend>
   <depend>python3-protobuf</depend>