Obbart/universal_robots_ros_driver
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added nullptr check before using ur_driver from hardware interface in set speed slider and set IO functions

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This commit is contained in:
Tristan Schnell
2019-08-05 11:41:44 +02:00
parent 4ddfe664d9
commit 82bb4bd8ff
1 changed files with 3 additions and 3 deletions
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6
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -540,7 +540,7 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
bool HardwareInterface::setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& req, bool HardwareInterface::setSpeedSlider(ur_rtde_driver::SetSpeedSliderRequest& req,
ur_rtde_driver::SetSpeedSliderResponse& res) 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); 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) 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) 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); 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); res.success = ur_driver_->getRTDEWriter().sendStandardAnalogOuput(req.pin, req.state);
} }