How to Use Controlit! with stickbot_bipedal_12dof (COM Position) about controlit HOT 4 CLOSED

Thanks for pointing out this problem. It is caused by the fact that the default parameter bindings aren't defined in COMTask. I will add the default bindings soon.

from controlit.

yes, you are right. I modified the COMTask.cpp, and add an addDefaultbindings() function which is similar to the one in JointPositionTask.cpp.

from controlit.

I added the default bindings to COMTask.cpp in the following commit: cbc711e

Please update your clone of controlit:

$ roscd controlit
$ git pull origin master

I think default parameter bindings could be cleaned up and automatically created by defining the parameter's direction upon declaration. The following issue shall track this potential improvement: #6

from controlit.

Agree! In some circumstances, both com control and jointpos control are needed at the same time. it would be necessary to reconsider this issue, you are right, and I think we should close this issue now.

from controlit.