Add namespace

apps/rob_ilc_lin_test.xml

@@ -131,6 +131,7 @@
 
                         <member id="scripts">
                             <clone prototype="script_trigger_ilc">
+                                <member id="namespace">ilc_rosproxy</member>
                                 <member id="service_name">ilc_service</member>
                                 <member id="file_in">/home/victor/Documents/ilc_Logs/logger_0.csv</member>
                                 <member id="file_out">/home/victor/Documents/ilc_Logs/lin_ff_2.txt</member>
@@ -138,10 +139,11 @@
                                 <member id="traj_type">cos</member>
                                 <member id="L">0.6</member>
                                 <member id="cutoff_freq">0.5</member>
-                                <member id="time_shift">50</member>
+                                <member id="time_shift">0</member>
                             </clone>
 
                             <clone prototype="script_retime_if_ilc">
+                                <member id="namespace">ilc_rosproxy</member>
                                 <member id="service_name">ilc_retime_if</member>
                                 <member id="on_start">false</member>
                                 <member id="retime_factor">0.9</member>

models/ilc_scripts.xml

@@ -39,6 +39,9 @@
                     <member id="description">cutoff_freq to be used in lowpass filter</member>
                 </type>
 
+                <type id="time_shift" prototype="float_parameter">
+                    <member id="description">time_shift</member>
+                </type>
                 <!--<type id="data_source" data_type="parameter:data_source" prototype="base">
                 </type>
                 <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">

scripts/ilc_lib/ilc_rosproxy.py

@@ -23,10 +23,10 @@ class Ilc_serviceproxy:
         self.T = rospy.get_param('~T', 8) # sampling time in ms
         self.fs = 1.0/(self.T * 0.001) # sampling frequency
 
-        rospy.Service('ilc_service', TriggerILC, self.callback_ilc_calc)
-        rospy.Service('ilc_service_meas', TriggerILCMeas, self.callback_ilc_calc_meas)
-        rospy.Service('ilc_retime', RetimeILC, self.callback_ilc_retime)
-        rospy.Service('ilc_retime_if', RetimeIfILC, self.callback_ilc_retime_if)
+        rospy.Service('~ilc_service', TriggerILC, self.callback_ilc_calc)
+        rospy.Service('~ilc_service_meas', TriggerILCMeas, self.callback_ilc_calc_meas)
+        rospy.Service('~ilc_retime', RetimeILC, self.callback_ilc_retime)
+        rospy.Service('~ilc_retime_if', RetimeIfILC, self.callback_ilc_retime_if)
 
         self.folder = rospy.get_param('~folder', None)