get joint controller topic from rosparam

dejavusgg · Aug 14, 2020 · 8e72630 · 8e72630
1 parent 721ebb8
commit 8e72630
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Showing 2 changed files with 16 additions and 13 deletions.
diff --git a/champ_base/src/quadruped_controller.cpp b/champ_base/src/quadruped_controller.cpp
@@ -35,14 +35,9 @@ QuadrupedController::QuadrupedController(const ros::NodeHandle &node_handle,
     leg_controller_(base_),
     kinematics_(base_)
 {
-    cmd_vel_subscriber_ = nh_.subscribe("cmd_vel/smooth", 1, &QuadrupedController::cmdVelCallback_, this);
-    cmd_pose_subscriber_ = nh_.subscribe("cmd_pose", 1, &QuadrupedController::cmdPoseCallback_, this);
-
-    joint_states_publisher_ = nh_.advertise<sensor_msgs::JointState>("joint_states", 100);
-    joint_commands_publisher_ = nh_.advertise<trajectory_msgs::JointTrajectory>("joint_group_position_controller/command", 100);
-    contacts_publisher_   = nh_.advertise<champ_msgs::Contacts>("foot_contacts", 100);
-
+    std::string joint_control_topic = "joint_group_position_controller/command";
     std::string knee_orientation;
+
     nh_.getParam("gait/pantograph_leg",         gait_config_.pantograph_leg);
     nh_.getParam("gait/max_linear_velocity_x",  gait_config_.max_linear_velocity_x);
     nh_.getParam("gait/max_linear_velocity_y",  gait_config_.max_linear_velocity_y);
@@ -57,6 +52,14 @@ QuadrupedController::QuadrupedController(const ros::NodeHandle &node_handle,
     pnh_.getParam("publish_joint_states",       publish_joint_states_);
     pnh_.getParam("publish_joint_control",      publish_joint_control_);
     pnh_.getParam("gazebo",                     in_gazebo_);
+    pnh_.getParam("joint_controller_topic", joint_control_topic);
+
+    joint_commands_publisher_ = nh_.advertise<trajectory_msgs::JointTrajectory>(joint_control_topic, 100);
+    cmd_vel_subscriber_ = nh_.subscribe("cmd_vel/smooth", 1, &QuadrupedController::cmdVelCallback_, this);
+    cmd_pose_subscriber_ = nh_.subscribe("cmd_pose", 1, &QuadrupedController::cmdPoseCallback_, this);
+
+    joint_states_publisher_ = nh_.advertise<sensor_msgs::JointState>("joint_states", 100);
+    contacts_publisher_   = nh_.advertise<champ_msgs::Contacts>("foot_contacts", 100);
 
     gait_config_.knee_orientation = knee_orientation.c_str();
 

diff --git a/champ_bringup/launch/bringup.launch b/champ_bringup/launch/bringup.launch
@@ -35,12 +35,12 @@
         </node>
 
         <node unless="$(arg lite)" pkg="champ_base" name="champ_controller" type="quadruped_controller_node" output="screen">
-            <param                                    name="gazebo"                value="$(arg gazebo)" />
-            <param if="$(arg hardware_connected)"     name="publish_joint_states"  value="false" />
-            <param unless="$(arg hardware_connected)" name="publish_joint_states"  value="true" />
-            <param                                    name="publish_foot_contacts" value="$(arg publish_foot_contacts)" />
-            <param                                    name="publish_joint_control" value="$(arg publish_joint_control)" />
-            <remap from="joint_group_position_controller/command" to="$(arg joint_controller_topic)" />
+            <param                                    name="gazebo"                 value="$(arg gazebo)" />
+            <param if="$(arg hardware_connected)"     name="publish_joint_states"   value="false" />
+            <param unless="$(arg hardware_connected)" name="publish_joint_states"   value="true" />
+            <param                                    name="publish_foot_contacts"  value="$(arg publish_foot_contacts)" />
+            <param                                    name="publish_joint_control"  value="$(arg publish_joint_control)" />
+            <param                                    name="joint_controller_topic" value="$(arg joint_controller_topic)" />
         </node>
         <node unless="$(arg lite)" pkg="champ_base" name="state_estimator" type="state_estimation_node" output="screen"/>