Obbart/universal_robots_ros_driver
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Remove obsolete robot state publisher

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Simon
2015-10-08 17:03:36 +02:00
parent a18aae9154
commit 5c7daf4365
1 changed files with 0 additions and 5 deletions
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5
src/ur_ros_wrapper.cpp
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@@ -509,11 +509,6 @@ private:
wrench_msg.wrench.torque.z = tcp_force[5]; wrench_msg.wrench.torque.z = tcp_force[5];
wrench_pub.publish(wrench_msg); wrench_pub.publish(wrench_msg);
// //Publish robot state
// std_msgs::Int32 robot_state_msg;
// robot_state_msg.data = (int) robot_.rt_interface_->robot_state_->getRobotMode();
// robot_state_pub.publish(robot_state_msg);
//Update diagnostics //Update diagnostics
driver_status_.robot_mode = static_cast<RobotMode>( robot_.rt_interface_->robot_state_->getRobotMode() ); driver_status_.robot_mode = static_cast<RobotMode>( robot_.rt_interface_->robot_state_->getRobotMode() );
driver_status_.safety_mode = static_cast<SafetyMode>( robot_.rt_interface_->robot_state_->getSafety_mode() ); driver_status_.safety_mode = static_cast<SafetyMode>( robot_.rt_interface_->robot_state_->getSafety_mode() );