Joint Tutorial needs topic_name in SDF examples. #2629
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Signed-off-by: Benjamin Perseghetti <[email protected]>
| <position_i_max>1</position_i_max> | ||
| <position_cmd_min>-20</position_cmd_min> | ||
| <position_cmd_max>20</position_cmd_max> | ||
| <topic>topic_name</topic> |
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So what's the behavior without <topic> specified? Can we make sure that scenario works as well?
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Sure you would need to pass it to the default topic instead. Is that preferred? Or just want it duplicated in that portion?
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I guess my question is, has the default topic changed? I ask because #2546 changed some default topics for some systems and those systems had to be updated.
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No, the default topic I don't believe has changed, the tutorial shows to publish this to control it:
gz-sim/tutorials/joint_controller.md
Line 622 in 76305df
Note that you need to have the topic name match that topic or it won't work.
And then it says to echo:
gz-sim/tutorials/joint_controller.md
Line 670 in 76305df
Which once again if you change it to listen to published topic won't work. So one or the other needs to be changed/fixed to work.
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So @azeey do you want an example with only the default topic, only the "assigned topic" or one with both?
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@azeey , any final decision/comments here?
🦟 Bug fix
Summary
This is my bad on not pushing up the final commit on adding
topic_namein a few places so that the trajectory control portion works properly. 🤦🏻♂️This also fixes the indents so they match when copying and pasting through tutorial.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.