Obbart/universal_robots_ros_driver
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send keepalive signals only if the program is running

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when no program is running, we do not want to fill the buffer anyway.
This commit is contained in:
Felix Mauch
2019-07-03 18:15:45 +02:00
committed by Tristan Schnell
parent 6aa2670eba
commit 6979ec35e0
1 changed files with 10 additions and 8 deletions
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18
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -287,15 +287,17 @@ 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_ &&
(runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING))
{
ur_driver_->writeJointCommand(joint_position_command_);
}
else
{
ur_driver_->writeKeepalive();
if (position_controller_running_)
{
ur_driver_->writeJointCommand(joint_position_command_);
}
else
{
ur_driver_->writeKeepalive();
}
}
}