Obbart/universal_robots_ros_driver
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Added control switching

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This commit is contained in:
Thomas Timm Andersen
2015-09-24 13:50:53 +02:00
parent af601b9c32
commit 1e8f13f232
7 changed files with 73 additions and 25 deletions
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4
include/ur_modern_driver/ur_hardware_interface.h
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@@ -86,6 +86,8 @@ public:
/// \brief write the command to the robot hardware.
virtual void write();
void doSwitch(const std::list<hardware_interface::ControllerInfo>&, const std::list<hardware_interface::ControllerInfo>&);
protected:
// Startup and shutdown of the internal node inside a roscpp program
@@ -95,7 +97,7 @@ protected:
hardware_interface::JointStateInterface joint_state_interface_;
hardware_interface::ForceTorqueSensorInterface force_torque_interface_;
hardware_interface::VelocityJointInterface velocity_joint_interface_;
bool velocity_interface_running_;
// Shared memory
std::vector<std::string> joint_names_;
std::vector<double> joint_position_;