Obbart/universal_robots_ros_driver
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Initialize VelocityInterface::prev_velocity_cmd_ with zeroes

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This commit is contained in:
Miguel Prada
2018-04-23 16:38:10 +02:00
committed by Simon Rasmussen
parent a9530c8586
commit 64f752f744
1 changed files with 1 additions and 3 deletions
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4
src/ros/hardware_interface.cpp
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@@ -17,7 +17,6 @@ void JointInterface::update(RTShared &packet)
efforts_ = packet.i_actual; efforts_ = packet.i_actual;
} }
const std::string WrenchInterface::INTERFACE_NAME = "hardware_interface::ForceTorqueSensorInterface"; const std::string WrenchInterface::INTERFACE_NAME = "hardware_interface::ForceTorqueSensorInterface";
WrenchInterface::WrenchInterface(std::string tcp_link) WrenchInterface::WrenchInterface(std::string tcp_link)
{ {
@@ -29,11 +28,10 @@ void WrenchInterface::update(RTShared &packet)
tcp_ = packet.tcp_force; tcp_ = packet.tcp_force;
} }
const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface"; const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface";
VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface,
std::vector<std::string> &joint_names, double max_vel_change) std::vector<std::string> &joint_names, double max_vel_change)
: commander_(commander), max_vel_change_(max_vel_change) : commander_(commander), max_vel_change_(max_vel_change), prev_velocity_cmd_({ 0, 0, 0, 0, 0, 0 })
{ {
for (size_t i = 0; i < 6; i++) for (size_t i = 0; i < 6; i++)
{ {