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Backport CI fix to develop #729

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May 4, 2023
Merged

Backport CI fix to develop #729

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13 changes: 12 additions & 1 deletion webots_ros2_universal_robot/webots_ros2_universal_robot/follow_joint_trajectory_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,24 @@
from rclpy.action import ActionClient
from rclpy.node import Node

import os
import xml.etree.ElementTree as ET
from ament_index_python import get_package_share_directory


class FollowJointTrajectoryClient(Node):
def __init__(self, name, prefix):
super().__init__(name)
self.__client = ActionClient(self, FollowJointTrajectory, prefix + '/follow_joint_trajectory')

# hotfix for the new topic name in the last version of joint_trajectory_controller
# (https://github.com/cyberbotics/webots_ros2/pull/726)
package_xml_path = os.path.join(get_package_share_directory('joint_trajectory_controller'), "package.xml")
version = ET.parse(package_xml_path).findall("version")[0].text
state_topic = '/state' if version < '3.7.0' else '/controller_state'

self.__state_subscriber = self.create_subscription(
JointTrajectoryControllerState, prefix + '/state', self.__on_state_received, 1
JointTrajectoryControllerState, prefix + state_topic, self.__on_state_received, 1
)
self.__received_states_counter = 0
self.__remaining_iteration = 0
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