Obbart/universal_robots_ros_driver
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Publish "native" tool position/velocity even in ros_control mode. (#262)

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This commit is contained in:
Miguel Prada
2019-02-26 09:46:03 +01:00
committed by G.A. vd. Hoorn
parent 44b096dfc2
commit 4f3775d647
1 changed files with 2 additions and 3 deletions
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5
src/ros/rt_publisher.cpp
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@@ -94,11 +94,10 @@ bool RTPublisher::publish(RTShared& packet)
bool res = true; bool res = true;
if (!temp_only_) if (!temp_only_)
{ {
res = publishJoints(packet, time) && publishWrench(packet, time) && publishTool(packet, time) && res = publishJoints(packet, time) && publishWrench(packet, time);
publishTransform(packet, time);
} }
return res && publishTemperature(packet, time); return res && publishTool(packet, time) && publishTransform(packet, time) && publishTemperature(packet, time);
} }
bool RTPublisher::consume(RTState_V1_6__7& state) bool RTPublisher::consume(RTState_V1_6__7& state)