From 0e63e150c5b8540759c894775f5274bd9f02d6d1 Mon Sep 17 00:00:00 2001 From: "rgriffin@ihmc.org" Date: Mon, 21 Oct 2024 14:55:26 -0500 Subject: [PATCH] deleted the state estimator api, and restored the purpose of the controller api back to what it was --- .../valkyrieRosControl/ValkyrieRosControlController.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java index c99a60c..4c723ca 100644 --- a/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java +++ b/src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java @@ -22,7 +22,7 @@ import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories.WalkingProvider; import us.ihmc.communication.HumanoidControllerAPI; import us.ihmc.communication.ROS2Tools; -import us.ihmc.communication.StateEstimatorAPI; +import us.ihmc.communication.controllerAPI.ControllerAPI; import us.ihmc.concurrent.runtime.barrierScheduler.implicitContext.BarrierScheduler.TaskOverrunBehavior; import us.ihmc.euclid.transform.RigidBodyTransform; import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName; @@ -39,6 +39,7 @@ import us.ihmc.robotModels.FullHumanoidRobotModel; import us.ihmc.robotics.robotSide.RobotSide; import us.ihmc.robotics.robotSide.SideDependentList; +import us.ihmc.ros2.ROS2Topic; import us.ihmc.ros2.RealtimeROS2Node; import us.ihmc.rosControl.EffortJointHandle; import us.ihmc.rosControl.wholeRobot.ForceTorqueSensorHandle; @@ -406,7 +407,8 @@ protected void init() PelvisPoseCorrectionCommunicatorInterface externalPelvisPoseSubscriber = null; externalPelvisPoseSubscriber = new PelvisPoseCorrectionCommunicator(null, null); - estimatorRealtimeROS2Node.createSubscription(StateEstimatorAPI.getTopic(StampedPosePacket.class, robotName), externalPelvisPoseSubscriber); + ROS2Topic controllerInputTopic = HumanoidControllerAPI.getInputTopic(robotName); + estimatorRealtimeROS2Node.createSubscription(ControllerAPI.getTopic(controllerInputTopic, StampedPosePacket.class), externalPelvisPoseSubscriber); /* * Build controller