Obbart/universal_robots_ros_driver
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Only write position commands if a position controller is active.

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Fixes #19
This commit is contained in:
Felix Mauch
2019-04-16 09:04:28 +02:00
parent d7f065a22d
commit 639da94588
2 changed files with 18 additions and 2 deletions
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2
include/ur_rtde_driver/ros/hardware_interface.h
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@@ -65,6 +65,8 @@ protected:
vector6d_t joint_velocities_;
vector6d_t joint_efforts_;
std::vector<std::string> joint_names_;
bool position_controller_running_;
};
} // namespace ur_driver

16
src/ros/hardware_interface.cpp
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@@ -35,6 +35,7 @@ HardwareInterface::HardwareInterface()
, joint_velocities_{ 0, 0, 0, 0, 0, 0 }
, joint_efforts_{ 0, 0, 0, 0, 0, 0 }
, joint_names_(6)
, position_controller_running_(false)
{
}
@@ -101,7 +102,10 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period)
{
if (position_controller_running_)
{
ur_driver_->writeJointCommand(joint_position_command_);
}
}
bool HardwareInterface ::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
@@ -114,7 +118,17 @@ bool HardwareInterface ::prepareSwitch(const std::list<hardware_interface::Contr
void HardwareInterface ::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list)
{
// TODO: Implement
position_controller_running_ = false;
for (auto& controller_it : start_list)
{
for (auto& resource_it : controller_it.claimed_resources)
{
if (resource_it.hardware_interface == "hardware_interface::PositionJointInterface")
{
position_controller_running_ = true;
}
}
}
}
const uint32_t HardwareInterface ::getControlFrequency() const