Fix motor start delay in sim (#638)

bit-bots · Dec 17, 2024 · 4f4e46a · 4f4e46a
2 parents 6d50151 + 586f8f8
commit 4f4e46a
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py
@@ -33,9 +33,11 @@ def __init__(self, node: Node):
         self.visualization_active: bool = self.node.get_parameter("visualization_active").value
         self.pickup_accel_threshold: float = self.node.get_parameter("pick_up_accel_threshold").value
         self.pressure_sensors_installed: bool = self.node.get_parameter("pressure_sensors_installed").value
-        self.motor_start_delay: int = get_parameters_from_other_node_sync(
-            self.node, "/wolfgang_hardware_interface", ["start_delay"]
-        )["start_delay"]
+        self.motor_start_delay: int = 0
+        if not self.simulation_active:  # The hardware interface is obviously not available in simulation
+            self.motor_start_delay = get_parameters_from_other_node_sync(
+                self.node, "/wolfgang_hardware_interface", ["start_delay"]
+            )["start_delay"]
 
         # Create service clients
         self.foot_zero_service = self.node.create_client(EmptySrv, "set_foot_zero")