Obbart/universal_robots_ros_driver
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Added control switching

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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
src/ur_ros_wrapper.cpp
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@@ -363,14 +363,12 @@ private:
last_time = current_time;
// Input
hardware_interface_->read();
robot_.rt_interface_->robot_state_->setControllerUpdated();
// Control
//controller_manager_->update(ros::Time::now(), elapsed_time);
controller_manager_->update(ros::Time(current_time.tv_sec, current_time.tv_nsec), elapsed_time);
// Output
hardware_interface_->write();
robot_.rt_interface_->robot_state_->setControllerUpdated();
}
}