Generate mc_rtc.yaml

isri-aist · Aug 6, 2022 · fa45681 · fa45681
1 parent 147bb2f
commit fa45681
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Showing 3 changed files with 10 additions and 0 deletions.
diff --git a/.gitignore b/.gitignore
@@ -5,3 +5,5 @@ GPATH
 GRTAGS
 GSYMS
 GTAGS
+
+etc/mc_rtc.yaml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -41,6 +41,8 @@ link_directories(${catkin_LIBRARY_DIRS})
 configure_file(etc/BaselineWalkingController.in.yaml
   "${CATKIN_DEVEL_PREFIX}/lib/mc_controller/etc/BaselineWalkingController.yaml" @ONLY)
 
+configure_file(etc/mc_rtc.in.yaml ${PROJECT_SOURCE_DIR}/etc/mc_rtc.yaml @ONLY)
+
 add_subdirectory(src)
 
 OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)

diff --git a/etc/mc_rtc.in.yaml b/etc/mc_rtc.in.yaml
@@ -0,0 +1,6 @@
+MainRobot: JVRC1
+
+Enabled: BaselineWalkingController
+ControllerModulePaths: ["@CATKIN_DEVEL_PREFIX@/lib/mc_controller/"]
+
+Timestep: 0.005
-Original file line number
+Diff line change
@@ Expand Up / @@ -5,3 +5,5 @@ GPATH @@
     GRTAGS
     GSYMS
     GTAGS
+    etc/mc_rtc.yaml