fix: fix save config and current joint service

ichiro-its · May 5, 2024 · 09a15af · 09a15af
1 parent f0fc798
commit 09a15af
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/src/akushon/config/grpc/call_data_save_config.cpp b/src/akushon/config/grpc/call_data_save_config.cpp
@@ -48,8 +48,7 @@ void CallDataSaveConfig::HandleRequest()
 {
   Config config(path_);
   try {
-    nlohmann::json akushon_data = nlohmann::json::parse(request_.json_actions());
-    config.save_config(akushon_data);
+    config.save_config(request_.json_actions());
     RCLCPP_INFO(rclcpp::get_logger("SaveConfig"), "config has been saved!");
   } catch (nlohmann::json::exception e) {
     RCLCPP_ERROR(rclcpp::get_logger("SaveConfig"), e.what());

diff --git a/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp b/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp
@@ -33,6 +33,13 @@ CallDataSubscribeCurrentJoints::CallDataSubscribeCurrentJoints(
   const std::string& path, rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
+  current_joint_subscription_ =
+    node_->create_subscription<tachimawari_interfaces::msg::CurrentJoints>(
+      "/joint/current_joints", 10,
+      [this](const tachimawari_interfaces::msg::CurrentJoints::SharedPtr curr_joints) {          
+        curr_joints_.joints = curr_joints->joints;
+      });
+
   Proceed();
 }  // namespace akushon
 
@@ -49,12 +56,6 @@ void CallDataSubscribeCurrentJoints::WaitForRequest()
 void CallDataSubscribeCurrentJoints::HandleRequest()
 {
   try {
-    current_joint_subscription_ =
-      node_->create_subscription<tachimawari_interfaces::msg::CurrentJoints>(
-        "/joint/current_joints", 10,
-        [this](const tachimawari_interfaces::msg::CurrentJoints::SharedPtr curr_joints) {          
-          curr_joints_.joints = curr_joints->joints;
-        });
     nlohmann::json curr_joints;
 
     for (const auto & items : curr_joints_.joints) {