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[hrpsys_tools/hrpsys.launch] enable to change hrpsys_periodic_type argument #1125

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[hrpsys_tools/hrpsys.launch] enable to change hrpsys_periodic_type argument #1125

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4 changes: 2 additions & 2 deletions hrpsys_tools/launch/hrpsys.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -41,14 +41,14 @@
<!-- see http://code.google.com/p/hrpsys-base/issues/detail?id=14 for exec_cxt.periodic.rate:100000 -->
<arg unless="$(arg USE_RTCD)" name="hrpsys_precreate_rtc" default="HGcontroller"/>
<arg unless="$(arg USE_RTCD)" name="hrpsys_preload_rtc" default="$(arg hrpsys_precreate_rtc).so"/>
<arg unless="$(arg USE_RTCD)" name="hrpsys_periodic_type" value="SynchExtTriggerEC" />
<arg unless="$(arg USE_RTCD)" name="hrpsys_periodic_type" default="SynchExtTriggerEC" />
<arg unless="$(arg REALTIME)" name="hrpsys_opt_args" value="-endless " />
<arg unless="$(arg GUI)" name="hrpsys_gui_args" value="-nodisplay" />
<!-- for rtcd -->
<arg if="$(arg USE_RTCD)" name="hrpsys_periodic_rate" default="200"/>
<arg if="$(arg USE_RTCD)" name="hrpsys_preload_rtc" default="RobotHardware.so,hrpEC.so"/>
<arg if="$(arg USE_RTCD)" name="hrpsys_precreate_rtc" default="RobotHardware"/>
<arg if="$(arg USE_RTCD)" name="hrpsys_periodic_type" value="hrpExecutionContext" />
<arg if="$(arg USE_RTCD)" name="hrpsys_periodic_type" default="hrpExecutionContext" />
<arg if="$(arg REALTIME)" name="hrpsys_opt_args" value="-endless -realtime" />
<arg if="$(arg GUI)" name="hrpsys_gui_args" value="" />
<!-- for both -->
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