Obbart/universal_robots_ros_driver
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subscribe to command topic AFTER the driver has been initialized

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This commit is contained in:
Felix Mauch
2019-09-11 15:22:26 +02:00
committed by Tristan Schnell
parent 2d78248760
commit 54b6da821c
1 changed files with 1 additions and 1 deletions
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2
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -77,7 +77,6 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
std::string tf_prefix = robot_hw_nh.param<std::string>("tf_prefix", ""); std::string tf_prefix = robot_hw_nh.param<std::string>("tf_prefix", "");
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true); program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
tcp_transform_.header.frame_id = "base"; tcp_transform_.header.frame_id = "base";
tcp_transform_.child_frame_id = "tool0_controller"; tcp_transform_.child_frame_id = "tool0_controller";
@@ -156,6 +155,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ROS_FATAL_STREAM(e.what()); ROS_FATAL_STREAM(e.what());
return false; return false;
} }
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
if (!root_nh.getParam("hardware_interface/joints", joint_names_)) if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{ {