Fix typo in dynamics_parameters topic name.

diff --git a/src/dynamics_linearizing_controller.cpp b/src/dynamics_linearizing_controller.cpp
index 1e5a18a..1dcd514 100644 (file)
--- a/src/dynamics_linearizing_controller.cpp
+++ b/src/dynamics_linearizing_controller.cpp
@@ -131,10 +131,10 @@ namespace effort_controllers
                        sub_command_=node_->create_subscription<geometry_msgs::msg::Accel>("~/command",1000,
                                std::bind(&DynamicsLinearizingController::commandCB,this,_1));
 
-                       sub_parameters_=node_->create_subscription<std_msgs::msg::Float64MultiArray>("~/dynamics_paremeters",1000,
+                       sub_parameters_=node_->create_subscription<std_msgs::msg::Float64MultiArray>("~/dynamics_parameters",1000,
                                std::bind(&DynamicsLinearizingController::parametersCB,this,_1));
 
-                       double wheelBase;
+                       double wheelBase;
                        if(!node_->get_parameter("wheel_separation",wheelBase))
                                throw std::runtime_error("No 'wheel_separation' parameter.");
 
@@ -149,10 +149,10 @@ namespace effort_controllers
                                throw std::runtime_error("No 'F' parameter.");
                        F_=Eigen::Map<Eigen::Matrix2d>(FVec.data(),2,2).transpose();
 
-                       std::vector<double> GVec;
+                       std::vector<double> GVec;
                        if(!node_->get_parameter("G",GVec))
                                throw std::runtime_error("No 'G' parameter.");
-                       Ginv_=Eigen::Map<Eigen::Matrix2d>(GVec.data(),2,2).transpose().inverse();
+                       Ginv_=Eigen::Map<Eigen::Matrix2d>(GVec.data(),2,2).transpose().inverse();
 
                        time_step_=node_->get_parameter("time_step").as_double();
                }
@@ -200,12 +200,12 @@ namespace effort_controllers
                for(unsigned int i=0;i < joints_.size();i++)
                        phi_[i]=state_interfaces_[i].get_value();
 
-                struct sched_param param;
-                param.sched_priority=priority_;
-                if(sched_setscheduler(0,SCHED_FIFO,&param) == -1)
-                        RCLCPP_WARN(node_->get_logger(),"Failed to set real-time scheduler.");
-                if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
-                        RCLCPP_WARN(node_->get_logger(),"Failed to lock memory.");
+               struct sched_param param;
+               param.sched_priority=priority_;
+               if(sched_setscheduler(0,SCHED_FIFO,&param) == -1)
+                       RCLCPP_WARN(node_->get_logger(),"Failed to set real-time scheduler.");
+               if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
+                       RCLCPP_WARN(node_->get_logger(),"Failed to lock memory.");
 
                return CallbackReturn::SUCCESS;
        }
@@ -270,16 +270,16 @@ namespace effort_controllers
                        }
                }
 
-                // Linearization
-               Eigen::Vector2d uf(u[0]*u[1],sqr(u[1]));
-               auto torque=Ginv_*(v_-F_*uf);
+               // Linearization
+               Eigen::Vector2d uf(u[0]*u[1],sqr(u[1]));
+               auto torque=Ginv_*(v_-F_*uf);
 
                // Apply torques
                for(unsigned int i=0;i < joints_.size();i++)
                        command_interfaces_[i].set_value(torque[i]);
 
-                if(rt_status_publisher_ && rt_status_publisher_->trylock())
-                {
+               if(rt_status_publisher_ && rt_status_publisher_->trylock())
+               {
                        rt_status_publisher_->msg_.header.stamp=time;
                        
                        rt_status_publisher_->msg_.set_point.linear.x=v_[0];
@@ -294,13 +294,13 @@ namespace effort_controllers
                                rt_status_publisher_->msg_.command[i]=torque[i];
 
                        rt_status_publisher_->unlockAndPublish();
-                }
+               }
 
-                Eigen::Vector3d x;
+               Eigen::Vector3d x;
                odom_.getPose(x);
 
-                if(rt_odom_publisher_ && rt_odom_publisher_->trylock())
-                {
+               if(rt_odom_publisher_ && rt_odom_publisher_->trylock())
+               {
                        rt_odom_publisher_->msg_.header.stamp=time;
 
                        rt_odom_publisher_->msg_.pose.pose.position.x=x[0];
@@ -313,10 +313,10 @@ namespace effort_controllers
                        rt_odom_publisher_->msg_.twist.twist.angular.z=u[1];
 
                        rt_odom_publisher_->unlockAndPublish();
-                }
+               }
 
-                if(rt_tf_odom_publisher_ && rt_tf_odom_publisher_->trylock())
-                {
+               if(rt_tf_odom_publisher_ && rt_tf_odom_publisher_->trylock())
+               {
                        geometry_msgs::msg::TransformStamped &odom_frame=
                                rt_tf_odom_publisher_->msg_.transforms[0];
                        odom_frame.header.stamp=time;
@@ -326,7 +326,7 @@ namespace effort_controllers
                        odom_frame.transform.rotation.w=cos(x[2]/2);
 
                        rt_tf_odom_publisher_->unlockAndPublish();
-                }
+               }
                return controller_interface::return_type::OK;
        }
 

diff --git a/src/twist_mrac_linearizing_controller.cpp b/src/twist_mrac_linearizing_controller.cpp
index bf9d15f..93ce659 100644 (file)
--- a/src/twist_mrac_linearizing_controller.cpp
+++ b/src/twist_mrac_linearizing_controller.cpp
@@ -133,7 +133,7 @@ namespace effort_controllers
                        sub_command_=node_->create_subscription<geometry_msgs::msg::Twist>("~/command",1000,
                                std::bind(&TwistMracLinearizingController::commandCB,this,_1));
 
-                       sub_parameters_=node_->create_subscription<std_msgs::msg::Float64MultiArray>("~/dynamics_paremeters",1000,
+                       sub_parameters_=node_->create_subscription<std_msgs::msg::Float64MultiArray>("~/dynamics_parameters",1000,
                                std::bind(&TwistMracLinearizingController::parametersCB,this,_1));
 
                        double wheelBase;