Obbart/universal_robots_ros_driver
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Major refactor

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This commit is contained in:
Simon Rasmussen
2017-04-27 06:40:03 +02:00
parent 46f4e493cf
commit c59bfc78cc
22 changed files with 825 additions and 423 deletions
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2
include/ur_modern_driver/ros/controller.h
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@@ -34,6 +34,7 @@ private:
std::map<std::string, HardwareInterface*> available_interfaces_;
std::atomic<bool> service_enabled_;
std::atomic<uint32_t> service_cooldown_;
// helper functions to map interfaces
template <typename T>
@@ -51,6 +52,7 @@ private:
void read(RTShared& state);
bool update(RTShared& state);
bool write();
void reset();
public:
ROSController(URCommander& commander, std::vector<std::string>& joint_names, double max_vel_change);