Obbart/universal_robots_ros_driver
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Stop sending data to servoj when stopTraj is called

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:48:05 +02:00
parent 1d54bcca1d
commit 52b68cbd9c
1 changed files with 1 additions and 1 deletions
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2
src/ur_driver.cpp
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@@ -152,7 +152,6 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
t = std::chrono::high_resolution_clock::now(); t = std::chrono::high_resolution_clock::now();
} }
//Signal robot to stop driverProg() //Signal robot to stop driverProg()
executing_traj_ = false;
UrDriver::closeServo(positions); UrDriver::closeServo(positions);
} }
@@ -281,6 +280,7 @@ void UrDriver::closeServo(std::vector<double> positions) {
UrDriver::servoj(rt_interface_->robot_state_->getQActual(), 0); UrDriver::servoj(rt_interface_->robot_state_->getQActual(), 0);
else else
UrDriver::servoj(positions, 0); UrDriver::servoj(positions, 0);
executing_traj_ = false;
close(new_sockfd_); close(new_sockfd_);
} }