[jsk_spot_startup] fix app

k-okada · Nov 22, 2023 · 095a30a · 095a30a
1 parent 5d84e27
commit 095a30a
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app
@@ -22,14 +22,14 @@ plugins:
         - /tf_static
         - /joint_states
         - /odom
-        - /elevator_accel \
-        - /elevator_accel_filtered \
-        - /elevator_altitude \
-        - /elevator_state_publisher/current_floor \
-        - /elevator_state_publisher/elevator_movement \
-        - /elevator_state_publisher/rest_elevator \
-        - /m5stack_core2_driver/imu \
-        - /m5stack_core2_driver/pressure \
+        - /elevator_accel
+        - /elevator_accel_filtered
+        - /elevator_altitude
+        - /elevator_state_publisher/current_floor
+        - /elevator_state_publisher/elevator_movement
+        - /elevator_state_publisher/rest_elevator
+        - /m5stack_core2_driver/imu
+        - /m5stack_core2_driver/pressure
         - /m5stack_core2_driver/temperature
   - name: result_recorder_plugin
     type: app_recorder/result_recorder_plugin

diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.py
@@ -21,8 +21,10 @@
 
     behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_7FElevator"))
     result = behavior_client.get_result()
+    rospy.loginfo("Result forward: {} {}".format(result.success, result.message))
 
     behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_73B2_dock"))
     result = behavior_client.get_result()
+    rospy.loginfo("Result backward: {} {}".format(result.success, result.message))
 
     client.dock(521)