From 82bb4bd8ffd86108464fc2bccf294f70455dbc36 Mon Sep 17 00:00:00 2001 From: Tristan Schnell Date: Mon, 5 Aug 2019 11:41:44 +0200 Subject: [PATCH] added nullptr check before using ur_driver from hardware interface in set speed slider and set IO functions --- ur_rtde_driver/src/ros/hardware_interface.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp index a9f2cfb..676bf83 100644 --- a/ur_rtde_driver/src/ros/hardware_interface.cpp +++ b/ur_rtde_driver/src/ros/hardware_interface.cpp @@ -540,7 +540,7 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri bool HardwareInterface::setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& req, ur_rtde_driver::SetSpeedSliderResponse& res) { - if (req.data >= 0.01 && req.data <= 1.0) + if (req.data >= 0.01 && req.data <= 1.0 && ur_driver_ != nullptr) { res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.data); } @@ -553,7 +553,7 @@ bool HardwareInterface::setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& re bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res) { - if (req.fun == req.FUN_SET_DIGITAL_OUT) + if (req.fun == req.FUN_SET_DIGITAL_OUT && ur_driver_ != nullptr) { if (req.pin <= 7) { @@ -568,7 +568,7 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse res.success = ur_driver_->getRTDEWriter().sendToolDigitalOutput(req.pin - 16, req.state); } } - else if (req.fun == req.FUN_SET_ANALOG_OUT) + else if (req.fun == req.FUN_SET_ANALOG_OUT && ur_driver_ != nullptr) { res.success = ur_driver_->getRTDEWriter().sendStandardAnalogOuput(req.pin, req.state); }