update example

ICube-Robotics · Jul 23, 2024 · fb8f580 · fb8f580
1 parent fe980ba
commit fb8f580
Show file tree

Hide file tree

Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/fd_bringup/launch/fd.launch.py b/fd_bringup/launch/fd.launch.py
@@ -90,7 +90,12 @@ def generate_launch_description():
 
     # Load controllers
     load_controllers = []
-    for controller in ['fd_controller', 'joint_state_broadcaster', 'fd_ee_broadcaster']:
+    for controller in [
+        'fd_controller',
+        'joint_state_broadcaster',
+        'fd_ee_broadcaster',
+        'fd_inertia_broadcaster',
+    ]:
         load_controllers += [
             Node(
                 package='controller_manager',

diff --git a/fd_description/config/fd_controllers.yaml b/fd_description/config/fd_controllers.yaml
@@ -8,6 +8,9 @@ fd/controller_manager:
     fd_ee_broadcaster:
       type: ee_pose_broadcaster/EePoseBroadcaster
 
+    fd_inertia_broadcaster:
+      type: fd_inertia_broadcaster/FdInertiaBroadcaster
+
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
@@ -49,3 +52,11 @@ fd/fd_ee_broadcaster:
       # - fd_pitch
       # - fd_yaw
     buttons: [button]  # Note: only one button supported for now
+
+fd/fd_inertia_broadcaster:
+  ros__parameters:
+    transform_rotation:
+      - 0.0
+      - 0.0
+      - 0.0
+    inertia_interface_name: fd_inertia