Obbart/universal_robots_ros_driver
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Fixed a bug where tool0_controller position was all 0 for ur firmware version 1.8.xx

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Thomas Timm Andersen
2016-03-02 17:04:11 +01:00
parent 91450da173
commit 0dc244bbe8
1 changed files with 2 additions and 2 deletions
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4
src/robot_state_RT.cpp
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@@ -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);