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Revert #239 (temporary, hotfix to #308) #317

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Apr 29, 2017
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Revert #239 (temporary, hotfix to #308) #317

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18 changes: 10 additions & 8 deletions nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -330,18 +330,20 @@ def getRTCList(self):
'''
Overwriting HrpsysConfigurator.getRTCList
Returning predefined list of RT components.

As of March 2016, this method internally calls HIRONX.getRTCList() and
returns what it returns. Although we could simply remove this method
from NextageClient, we still keep it; it'd be easier
to modify an existing method than to add a new overridden method,
in case we might want to define RTC return list differently from HIRONX.

@rtype [[str]]
@return List of available components. Each element consists of a list
of abbreviated and full names of the component.
'''
return HIRONX.getRTCList(self)
return [
['seq', "SequencePlayer"],
['sh', "StateHolder"],
['fk', "ForwardKinematics"],
['el', "SoftErrorLimiter"],
# ['co', "CollisionDetector"],
# ['sc', "ServoController"],
['ic', "ImpedanceController"],
['log', "DataLogger"]
]

def goInitial(self, tm=7, wait=True, init_pose_type=0):
'''
Expand Down