From 0dc244bbe8946f5cd9f1e7d26501aa47e8c285dc Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Wed, 2 Mar 2016 17:04:11 +0100
Subject: [PATCH] Fixed a bug where tool0_controller position was all 0 for ur
 firmware version 1.8.xx

---
 src/robot_state_RT.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/robot_state_RT.cpp b/src/robot_state_RT.cpp
index 2074165..b170a04 100644
--- a/src/robot_state_RT.cpp
+++ b/src/robot_state_RT.cpp
@@ -364,8 +364,8 @@ void RobotStateRT::unpack(uint8_t * buf) {
 	offset += sizeof(double) * 6;
 	i_actual_ = unpackVector(buf, offset, 6);
 	offset += sizeof(double) * 6;
-	if (version_ <= 1.8) {
-		if (version_ != 1.6)
+	if (version_ <= 1.9) {
+		if (version_ > 1.6)
 			tool_accelerometer_values_ = unpackVector(buf, offset, 3);
 		offset += sizeof(double) * (3 + 15);
 		tcp_force_ = unpackVector(buf, offset, 6);