[hrpsys_choreonoid/iob.cpp] load pdgains.file_name on initialize#354
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YoheiKakiuchi merged 1 commit intostart-jsk:masterfrom Jun 10, 2021
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#349 の一部です。
実機はservo offの状態から起動しますが、シミュレーションでは時間短縮のためにいきなり立った状態から開始するので、実機では
servo on時にhrpsysで行われる処理を、シミュレーションではiob内で最初から行う必要があります。pdgains.file_nameの値を実機に入力する処理は、実機では
servo on時(厳密にはwrite_pgain等が呼ばれたとき)にhrpsysで行われます。このPRによって、シミュレーションでは開始時にiob内でpdgains.file_nameの値を読むようになります。関連するissue #326 (comment)
この変更によって、実機とシミュレーションで同じpdgains.file_nameのファイルを使用することが可能になります。
rtmros_choreonoid_tutorials以下にあるロボットの中で、実機とシミュレーションで異なるpdgains.file_nameのファイルを使っているロボットについて、start-jsk/rtmros_tutorials#597 で修正しました。