[jsk_spot_startup] update app

k-okada · Nov 22, 2023 · 5d84e27 · 5d84e27
1 parent eeb78e2
commit 5d84e27
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Showing 2 changed files with 10 additions and 1 deletion.
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
@@ -22,6 +22,15 @@ 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 \
+        - /m5stack_core2_driver/temperature
   - name: result_recorder_plugin
     type: app_recorder/result_recorder_plugin
     plugin_args:

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
@@ -19,7 +19,7 @@
     client.power_on()
     client.undock()
 
-    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_3FElevator"))
+    behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_7FElevator"))
     result = behavior_client.get_result()
 
     behavior_client.send_goal_and_wait(NavigationGoal(target_node_id="eng2_73B2_dock"))