Obbart/universal_robots_ros_driver
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Code Releases Activity

Fixed issues preventing from compiling on Kinetic

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This commit is contained in:
Simon Rasmussen
2017-07-17 23:30:39 +02:00
parent 8e8a0428b0
commit a170b9f51e
4 changed files with 17 additions and 5 deletions
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3
include/ur_modern_driver/ros/controller.h
View File

@@ -1,7 +1,6 @@
#pragma once
#include <controller_manager/controller_manager.h>
#include <hardware_interface/force_torque_sensor_interface.h>
#include <hardware_interface/internal/demangle_symbol.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
@@ -46,7 +45,7 @@ private:
void registerControllereInterface(T* interface)
{
registerInterface(interface);
available_interfaces_[hardware_interface::internal::demangledTypeName<typename T::parent_type>()] = interface;
available_interfaces_[T::INTERFACE_NAME] = interface;
}
void read(RTShared& state);

5
include/ur_modern_driver/ros/hardware_interface.h
View File

@@ -33,7 +33,9 @@ private:
public:
JointInterface(std::vector<std::string> &joint_names);
void update(RTShared &packet);
typedef hardware_interface::JointStateInterface parent_type;
static const std::string INTERFACE_NAME;
};
class WrenchInterface : public hardware_interface::ForceTorqueSensorInterface
@@ -44,6 +46,7 @@ public:
WrenchInterface();
void update(RTShared &packet);
typedef hardware_interface::ForceTorqueSensorInterface parent_type;
static const std::string INTERFACE_NAME;
};
class VelocityInterface : public HardwareInterface, public hardware_interface::VelocityJointInterface
@@ -59,6 +62,7 @@ public:
virtual bool write();
virtual void reset();
typedef hardware_interface::VelocityJointInterface parent_type;
static const std::string INTERFACE_NAME;
};
class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface
@@ -75,4 +79,5 @@ public:
virtual void stop();
typedef hardware_interface::PositionJointInterface parent_type;
static const std::string INTERFACE_NAME;
};