fix some bugs

Author: Mohssen-sm

quadruped_hardware/src/quad_hardware_control.cpp

@@ -28,16 +28,31 @@ void setProcessScheduler()
     param.sched_priority = sched_get_priority_max(SCHED_FIFO);
     if (sched_setscheduler(pid, SCHED_FIFO, &param) == -1)
     {
-        std::cout << "[ERROR] function setprocessscheduler failed \n ";
+        std::cout << "[ERROR] function set process scheduler failed \n ";
     }
 }
 
-int main()
+int main(int argc, char **argv)
 {
     setProcessScheduler();
 
     double dt = 0.001;
-    int cmd_panel_id = 1; // Wireless=1, keyboard=2
+    int cmd_panel_id; // Wireless=1, keyboard=2
+    
+    if (argc > 1) {
+        if(std::string(argv[1]) == "wireless") {
+            cmd_panel_id = 1;
+        } else if(std::string(argv[1]) == "keyboard") {
+            cmd_panel_id = 2;
+        } else {
+            std::cout << "Invalid command panel. Please enter either 'wireless' or 'keyboard'." << std::endl;
+            return 1;
+        }
+    }
+    else {
+        cmd_panel_id = 2; // Default to keyboard
+    }
+
     IOInterface *ioInter;
     ManipulationUDP *manipulationIO;
 

quadruped_sim/scripts/multiRobotSim.yaml

@@ -6,7 +6,7 @@ windows:
       - shell_command:
         - roslaunch quadruped_sim world_only.launch
     shell_command_before:
-      - source ~/Projects/manipulation_ws/devel/setup.bash 
+      - source $PWD/../../../../devel/setup.bash 
 
   - window_name: Robot1
     layout: tiled
@@ -18,7 +18,7 @@ windows:
         - sleep 6
         - rosrun quadruped_sim quad_sim_control $robot_type __ns:=$ns
     shell_command_before:
-      - source ~/Projects/manipulation_ws/devel/setup.bash 
+      - source $PWD/../../../../devel/setup.bash 
       - export ns=robot_1
       - export robot_type=a1
       - export x_pos=0.0
@@ -35,7 +35,7 @@ windows:
         - sleep 6
         - rosrun quadruped_sim quad_sim_control $robot_type __ns:=$ns
     shell_command_before:
-      - source ~/Projects/manipulation_ws/devel/setup.bash 
+      - source $PWD/../../../../devel/setup.bash 
       - export ns=robot_2
       - export robot_type=aliengo
       - export x_pos=0.0