fixed req

utra-robosoccer · Aug 27, 2024 · d15b1d9 · d15b1d9
1 parent d45dc36
commit d15b1d9
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/requirements.txt b/requirements.txt
@@ -19,7 +19,7 @@ pygame~=2.5.0
 ultralytics~=8.2.82
 
 # Control
-pinocchio==0.4.3
+pin==2.7.0
 placo~=0.6.2
 pybullet~=3.2.5
 mujoco~=3.2.0

diff --git a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py
@@ -2,7 +2,7 @@
 
 import psutil
 from soccer_pycontrol.model.model_ros.bez_ros import BezROS
-from soccer_pycontrol.walk_engine.walk_engine_ros.walk_engine_ros import WalkEngineROS
+from soccer_pycontrol.walk_engine.walk_engine_ros.walk_engine_ros import WalkEngineRos
 
 pid = psutil.Process()
 try:
@@ -23,11 +23,11 @@
 if __name__ == "__main__":
     rospy.init_node("soccer_control")
     rospy.loginfo("Initializing Soccer Control")
-    bez = BezROS()
-    walker = WalkEngineROS(bez)
-    # walker = NavigatorRos()
+    ns = "/robot1/"
+    bez = BezROS(ns=ns)
+    walker = WalkEngineRos(bez)
     rospy.loginfo("Starting Control Loop")
     try:
-        walker.run()
+        walker.walk(d_x=0.00, t_goal=10)
     except rospy.exceptions.ROSException as ex:
         exit(0)
diff --git a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py
@@ -12,7 +12,7 @@
 class BezROS(Bez):
     def __init__(self, ns: str = ""):
         self.ns = ns
-        self.robot_model = rospy.get_param("robot_model", "bez2")
+        self.robot_model = rospy.get_param("robot_model", "bez1")
         if rospy.get_param("/use_sim_time", False):
             sim = "_sim"
         else: