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Feature/networking fix #19

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Feature/networking fix #19

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6 changes: 4 additions & 2 deletions src/main/java/us/ihmc/valkyrieRosControl/ValkyrieRosControlController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;
Expand Down Expand Up @@ -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
Expand Down