From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 29 Apr 2021 04:48:42 +0000 (-0300)
Subject: Fix trajectory duration in wam_bringup scripts.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=d6e37ca9ef30c7e14ea44819fc695b96606e1775;p=ufrgs_wam.git

Fix trajectory duration in wam_bringup scripts.
---

diff --git a/wam_bringup/scripts/set_home.sh b/wam_bringup/scripts/set_home.sh
index 73d9b77..b8d2b0f 100755
--- a/wam_bringup/scripts/set_home.sh
+++ b/wam_bringup/scripts/set_home.sh
@@ -4,10 +4,10 @@ rosservice call /gazebo/set_model_configuration wam joint \
 "['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7']" \
 "[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]"
 
-rostopic pub /wam/controller/command \
+rostopic pub /controller/command \
 trajectory_msgs/JointTrajectoryPoint \
 "[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" "-1"
+"[0, 0]" "-1"
diff --git a/wam_bringup/scripts/step.sh b/wam_bringup/scripts/step.sh
index 010384b..207a1da 100755
--- a/wam_bringup/scripts/step.sh
+++ b/wam_bringup/scripts/step.sh
@@ -10,4 +10,4 @@ trajectory_msgs/JointTrajectoryPoint \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" "-1"
+"[0, 0]" "-1"
diff --git a/wam_bringup/scripts/step_home.sh b/wam_bringup/scripts/step_home.sh
index 6b2f2b2..92f3e6c 100755
--- a/wam_bringup/scripts/step_home.sh
+++ b/wam_bringup/scripts/step_home.sh
@@ -6,4 +6,4 @@ trajectory_msgs/JointTrajectoryPoint \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" "-1"
+"[0, 0]" "-1"
diff --git a/wam_bringup/scripts/step_zero.sh b/wam_bringup/scripts/step_zero.sh
index 8fcc947..cca469c 100755
--- a/wam_bringup/scripts/step_zero.sh
+++ b/wam_bringup/scripts/step_zero.sh
@@ -6,4 +6,4 @@ trajectory_msgs/JointTrajectoryPoint \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" -1
+"[0, 0]" -1