I’m trying to control my own robot through a transfer function, just like in the baseball tutorial. The robot is already imported in the NRP and all that worked well.
Because writing a transfer function from scratch and trying to access the robot through it didn’t work, I’m trying to understand the mechanism better by modifying some names in an existing model and seeing if it still works.
But this is where I got stuck: I renamed every single occurrence of
r_elbow (except occurrences such as
r_elbow_1 etc.) in the whole NRP folder, aka in the subfolders
GazeboRosPackages/src/icub_initialization to a different string. I also did
catkin_make inside of
GazeboRosPackages and it told me the changed file was successfully built and linked. Finally, I added a line in the
simple_move_robot.py transfer function where a value is sent to that topic.
Still, when I execute the experiment, nothing happens with the elbow (experiment is started) and neither does anything happen when I edit the transfer function in the browser window and click on