Commit d07541ec authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

Add namespace

parent b238f15d
...@@ -131,6 +131,7 @@ ...@@ -131,6 +131,7 @@
<member id="scripts"> <member id="scripts">
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="file_in">/home/victor/Documents/ilc_Logs/logger_0.csv</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> <member id="file_out">/home/victor/Documents/ilc_Logs/lin_ff_2.txt</member>
...@@ -138,10 +139,11 @@ ...@@ -138,10 +139,11 @@
<member id="traj_type">cos</member> <member id="traj_type">cos</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
<member id="time_shift">50</member> <member id="time_shift">0</member>
</clone> </clone>
<clone prototype="script_retime_if_ilc"> <clone prototype="script_retime_if_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_retime_if</member> <member id="service_name">ilc_retime_if</member>
<member id="on_start">false</member> <member id="on_start">false</member>
<member id="retime_factor">0.9</member> <member id="retime_factor">0.9</member>
......
...@@ -39,6 +39,9 @@ ...@@ -39,6 +39,9 @@
<member id="description">cutoff_freq to be used in lowpass filter</member> <member id="description">cutoff_freq to be used in lowpass filter</member>
</type> </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 id="data_source" data_type="parameter:data_source" prototype="base">
</type> </type>
<type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base"> <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">
......
...@@ -23,10 +23,10 @@ class Ilc_serviceproxy: ...@@ -23,10 +23,10 @@ class Ilc_serviceproxy:
self.T = rospy.get_param('~T', 8) # sampling time in ms self.T = rospy.get_param('~T', 8) # sampling time in ms
self.fs = 1.0/(self.T * 0.001) # sampling frequency self.fs = 1.0/(self.T * 0.001) # sampling frequency
rospy.Service('ilc_service', TriggerILC, self.callback_ilc_calc) rospy.Service('~ilc_service', TriggerILC, self.callback_ilc_calc)
rospy.Service('ilc_service_meas', TriggerILCMeas, self.callback_ilc_calc_meas) rospy.Service('~ilc_service_meas', TriggerILCMeas, self.callback_ilc_calc_meas)
rospy.Service('ilc_retime', RetimeILC, self.callback_ilc_retime) rospy.Service('~ilc_retime', RetimeILC, self.callback_ilc_retime)
rospy.Service('ilc_retime_if', RetimeIfILC, self.callback_ilc_retime_if) rospy.Service('~ilc_retime_if', RetimeIfILC, self.callback_ilc_retime_if)
self.folder = rospy.get_param('~folder', None) self.folder = rospy.get_param('~folder', None)
......
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