Obbart/universal_robots_ros_driver
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Made sure to stop any executing trajectory when the driver is halted

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Thomas Timm Andersen
2015-10-20 11:01:54 +02:00
parent 189ecc71ed
commit 8a4cdb51da
1 changed files with 3 additions and 0 deletions
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3
src/ur_driver.cpp
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@@ -291,6 +291,9 @@ bool UrDriver::start() {
} }
void UrDriver::halt() { void UrDriver::halt() {
if (executing_traj_) {
UrDriver::stopTraj();
}
sec_interface_->halt(); sec_interface_->halt();
rt_interface_->halt(); rt_interface_->halt();
close(incoming_sockfd_); close(incoming_sockfd_);