message: configure DSA debug level and tactile sensitivity through ROS parameters
diff: @@ -96,6 +96,8 @@ private:
  std::string sdhdevicestring_;
  int sdhdevicenum_;
  std::string dsadevicestring_;
  + int dsa_dbg_level_;
  + double dsa_sensitivity_;
  int dsadevicenum_;
  int baudrate_, id_read_, id_write_;
  double timeout_;
  @@ -188,6 +190,8 @@ public:
  nh_.param("dsadevicestring", dsadevicestring_, std::string(""));
  nh_.param("dsadevicenum", dsadevicenum_, 0);
  + nh_.param("dsa_dbg_level", dsa_dbg_level_, 0);
  + nh_.param("dsa_sensitivity", dsa_sensitivity_, 0.5);
  nh_.param("baudrate", baudrate_, 1000000);
  nh_.param("timeout", timeout_, static_cast<double>(0.04));
  @@ -465,13 +469,13 @@ public:
  {
  try
  {
  - dsa_ = new SDH::cDSA(0, dsadevicenum_, dsadevicestring_.c_str());
  + dsa_ = new SDH::cDSA(dsa_dbg_level_, dsadevicenum_, dsadevicestring_.c_str());
  // dsa_->SetFramerate( 0, true, false );
  dsa_->SetFramerate(1, true);
  ROS_INFO("Initialized RS232 for DSA Tactile Sensors on device %s", dsadevicestring_.c_str());
  - // ROS_INFO("Set sensitivity to 1.0");
  - // for(int i=0; i<6; i++)
  - // dsa_->SetMatrixSensitivity(i, 1.0);
  + for(int imat=0; imat<dsa_->GetSensorInfo().nb_matrices; imat++) {
  + dsa_->SetMatrixSensitivity(imat, dsa_sensitivity_);
  + }
  isDSAInitialized_ = true;
  }
  catch (SDH::cSDHLibraryException* e)
  