Obbart/universal_robots_ros_driver
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Fixed minor issues

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This commit is contained in:
Simon Rasmussen
2017-04-15 01:45:29 +02:00
parent dd8169d371
commit b4bb424058
7 changed files with 58 additions and 46 deletions
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10
src/ros/rt_publisher.cpp
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@@ -91,8 +91,14 @@ bool RTPublisher::publishTemperature(RTShared& packet, Time& t)
bool RTPublisher::publish(RTShared& packet)
{
Time time = Time::now();
return publishJoints(packet, time) && publishWrench(packet, time) && publishTool(packet, time) &&
publishTransform(packet, time) && publishTemperature(packet, time);
bool res = true;
if (!temp_only_)
{
res = publishJoints(packet, time) && publishWrench(packet, time) && publishTool(packet, time) &&
publishTransform(packet, time);
}
return res && publishTemperature(packet, time);
}
bool RTPublisher::consume(RTState_V1_6__7& state)