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Fixed typo and moved pid gains to namespace

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This commit is contained in:
Dawit Abate 2019-07-05 13:54:23 +03:00
parent d601655fca
commit 06cd9fafb0
1 changed files with 4 additions and 5 deletions
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9
src/freecad_to_gazebo/freecad_exporter.py
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@ -139,7 +139,7 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
plugin = ET.SubElement(gazebo, 'plugin') plugin = ET.SubElement(gazebo, 'plugin')
plugin.set('filename', 'libgazebo_ros_control.so') plugin.set('filename', 'libgazebo_ros_control.so')
plugin.set('name', 'gazebo_ros_control') plugin.set('name', 'gazebo_ros_control')
namespace = ET.SubElement(plugin, 'robotNameSpace') namespace = ET.SubElement(plugin, 'robotNamespace')
namespace.text = '/'+robot_name namespace.text = '/'+robot_name
simtype = ET.SubElement(plugin, 'robotSimType') simtype = ET.SubElement(plugin, 'robotSimType')
simtype.text = 'gazebo_ros_control/DefaultRobotHWSim' simtype.text = 'gazebo_ros_control/DefaultRobotHWSim'
@ -188,11 +188,10 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
'publish_rate': 50, 'publish_rate': 50,
'joints': joint_names 'joints': joint_names
} }
pid_gains = {} control_configs[robot_name]['gazebo_ros_control/pid_gains'] = {}
control_configs['gazebo_ros_control/pid_gains'] = {}
for joint in joint_names: for joint in joint_names:
control_configs['gazebo_ros_control/pid_gains'][joint] = pid.copy() control_configs[robot_name]['gazebo_ros_control/pid_gains'][joint] = pid.copy()
os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True) os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True)
with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file: with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file:
yaml.dump(control_configs, control_configs_file) yaml.dump_all([control_configs], control_configs_file, sort_keys=False)