From 52b68cbd9cc5f71ebeb515fceefef816d3d14945 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Thu, 8 Oct 2015 15:48:05 +0200
Subject: [PATCH] Stop sending data to servoj when stopTraj is called

---
 src/ur_driver.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index 6b72008..cd85423 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -152,7 +152,6 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
 		t = std::chrono::high_resolution_clock::now();
 	}
 	//Signal robot to stop driverProg()
-	executing_traj_ = false;
 	UrDriver::closeServo(positions);
 }
 
@@ -281,6 +280,7 @@ void UrDriver::closeServo(std::vector<double> positions) {
 		UrDriver::servoj(rt_interface_->robot_state_->getQActual(), 0);
 	else
 		UrDriver::servoj(positions, 0);
+	executing_traj_ = false;
 	close(new_sockfd_);
 }