From f80d985cca4cc61127fde6a7ab71a4fb6262e6a4 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 23 Mar 2016 02:07:13 -0700
Subject: [PATCH] [NXO Client] Overridden getRTCList now simply calls a method
 from the parent class, HIRONX, to return the same RTCs and utilize whatever
 the logic defined.

---
 .../src/nextage_ros_bridge/nextage_client.py   | 18 ++++++++----------
 1 file changed, 8 insertions(+), 10 deletions(-)

diff --git a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
index 6053bc49..7304e7d0 100755
--- a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
+++ b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
@@ -330,20 +330,18 @@ def getRTCList(self):
         '''
         Overwriting HrpsysConfigurator.getRTCList
         Returning predefined list of RT components.
+
+        As of March 2016, this method internally calls HIRONX.getRTCList() and
+        returns what it returns. Although we could simply remove this method
+        from NextageClient, we still keep it; it'd be easier
+        to modify an existing method than to add a new overridden method,
+        in case we might want to define RTC return list differently from HIRONX.
+
         @rtype [[str]]
         @rerutrn List of available components. Each element consists of a list
                  of abbreviated and full names of the component.
         '''
-        return [
-            ['seq', "SequencePlayer"],
-            ['sh', "StateHolder"],
-            ['fk', "ForwardKinematics"],
-            ['el', "SoftErrorLimiter"],
-            # ['co', "CollisionDetector"],
-            # ['sc', "ServoController"],
-            ['ic', "ImpedanceController"],
-            ['log', "DataLogger"]
-            ]
+        return HIRONX.getRTCList(self)
 
     def goInitial(self, tm=7, wait=True, init_pose_type=0):
         '''