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remove getHandle in UnitreeHW::read #71

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remove getHandle in UnitreeHW::read #71

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12 changes: 6 additions & 6 deletions legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,12 +83,12 @@ void UnitreeHW::read(const ros::Time& time, const ros::Duration& /*period*/) {
}

// Set feedforward and velocity cmd to zero to avoid for safety when not controller setCommand
std::vector<std::string> names = hybridJointInterface_.getNames();
for (const auto& name : names) {
HybridJointHandle handle = hybridJointInterface_.getHandle(name);
handle.setFeedforward(0.);
handle.setVelocityDesired(0.);
handle.setKd(3.);
for(size_t i=0; i<12; ++i){

@qiayuanl qiayuanl Aug 24, 2024

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Should not be i<12.

jointData_[i].posDes_ = jointData_[i].pos_;
jointData_[i].velDes_ = jointData_[i].vel_;
Comment on lines +87 to +88

@qiayuanl qiayuanl Aug 24, 2024

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Not need for these two lines.

jointData_[i].ff_ = 0.0;
jointData_[i].kp_ = 0.0;
jointData_[i].kd_ = 0.0;

@qiayuanl qiayuanl Aug 24, 2024

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Better to have some damping
jointData_[i].kd_ = 3.0;

}

updateJoystick(time);
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