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ロボットが意図せず動かない時にどのRTCが犯人なのか特定したい,ということがたまにあると思うのですが,どうするのがお勧めでしょうか?
思いついた方法として,
があったので,後者のPRを作って見ました.
ついでですが,最新のhrpsys+最新のhrpsys_ros_bridgeではロボットがabcで歩かない気がしていますが,僕だけでしょうか?
(身近にある2台のPCで起きている.)
このPRを使って調べたところ,ros_bridgeを上げるとなぜかcoがすべての関節角度を止めてしまっている気がします.(最新のhrpsys単体では起きない)
ちなみに,hrpsys_ros_bridgeを
git clean -xfd
してforce-cmakeしてビルドしなおしてもeusからはabc/stとかのパラメータを取得できない症状も起きています.