Obbart/universal_robots_ros_driver
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re-added a non-scaled position interface for position controllers

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As this interface uses the same joint names as the scaled interface,
resourced conflicts are already managed by ros_control's resource claim
mechanisms.
This commit is contained in:
Felix Mauch
2019-06-26 08:49:51 +02:00
parent 14b9dd4f1b
commit 5934de2772
1 changed files with 7 additions and 3 deletions
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10
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -171,8 +171,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
&joint_velocities_[i], &joint_efforts_[i])); &joint_velocities_[i], &joint_efforts_[i]));
// Create joint position control interface // Create joint position control interface
// pj_interface_.registerHandle( pj_interface_.registerHandle(
// hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i])); hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i]));
spj_interface_.registerHandle(ur_controllers::ScaledJointHandle( spj_interface_.registerHandle(ur_controllers::ScaledJointHandle(
js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_)); 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 // Register interfaces
registerInterface(&js_interface_); registerInterface(&js_interface_);
registerInterface(&spj_interface_); registerInterface(&spj_interface_);
// registerInterface(&pj_interface_); registerInterface(&pj_interface_);
registerInterface(&speedsc_interface_); registerInterface(&speedsc_interface_);
registerInterface(&fts_interface_); registerInterface(&fts_interface_);
@@ -317,6 +317,10 @@ void HardwareInterface ::doSwitch(const std::list<hardware_interface::Controller
{ {
position_controller_running_ = true; position_controller_running_ = true;
} }
if (resource_it.hardware_interface == "hardware_interface::PositionJointInterface")
{
position_controller_running_ = true;
}
} }
} }
} }