Fix sim connection (#266)

huskyroboticsteam · Sep 29, 2023 · 29ac65c · 29ac65c
1 parent cdfcf79
commit 29ac65c
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/Rover.cpp b/src/Rover.cpp
@@ -132,8 +132,8 @@ void parseCommandLine(int argc, char** argv) {
 int main(int argc, char** argv) {
 	parseCommandLine(argc, argv);
 	Globals::AUTONOMOUS = false;
-	robot::world_interface_init();
 	Globals::websocketServer.start();
+	robot::world_interface_init();
 	auto mcProto = std::make_unique<net::mc::MissionControlProtocol>(Globals::websocketServer);
 	Globals::websocketServer.addProtocol(std::move(mcProto));
 	rospub::init();

diff --git a/src/world_interface/simulator_interface.cpp b/src/world_interface/simulator_interface.cpp
@@ -39,7 +39,8 @@ const std::map<motorid_t, std::string> motorNameMap = {
 	{motorid_t::elbow, "elbow"},
 	{motorid_t::forearm, "forearm"},
 	{motorid_t::wrist, "wrist"},
-	{motorid_t::hand, "hand"}};
+	{motorid_t::hand, "hand"},
+	{motorid_t::activeSuspension, "activeSuspension"}};
 
 DataPoint<navtypes::eulerangles_t> lastAttitude;
 std::mutex attitudeMutex;