From 5934de2772d165843cbb4db342982c994bbfe497 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 26 Jun 2019 08:49:51 +0200
Subject: [PATCH] re-added a non-scaled position interface for position
 controllers

As this interface uses the same joint names as the scaled interface,
resourced conflicts are already managed by ros_control's resource claim
mechanisms.
---
 ur_rtde_driver/src/ros/hardware_interface.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 1384455..2ea6bfc 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -171,8 +171,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
                                                                       &joint_velocities_[i], &joint_efforts_[i]));
 
     // Create joint position control interface
-    // pj_interface_.registerHandle(
-    // hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i]));
+    pj_interface_.registerHandle(
+        hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i]));
     spj_interface_.registerHandle(ur_controllers::ScaledJointHandle(
         js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_));
   }
@@ -186,7 +186,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   // Register interfaces
   registerInterface(&js_interface_);
   registerInterface(&spj_interface_);
-  // registerInterface(&pj_interface_);
+  registerInterface(&pj_interface_);
   registerInterface(&speedsc_interface_);
   registerInterface(&fts_interface_);
 
@@ -317,6 +317,10 @@ void HardwareInterface ::doSwitch(const std::list<hardware_interface::Controller
       {
         position_controller_running_ = true;
       }
+      if (resource_it.hardware_interface == "hardware_interface::PositionJointInterface")
+      {
+        position_controller_running_ = true;
+      }
     }
   }
 }