Obbart/universal_robots_ros_driver
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extended SetIO service to correctly set configurable and tool digital output

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This commit is contained in:
Tristan Schnell
2019-08-01 12:54:39 +02:00
parent 02fac9cec0
commit c6a5df9fdc
3 changed files with 15 additions and 3 deletions
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4
ur_rtde_driver/src/rtde/rtde_writer.cpp
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@@ -151,8 +151,8 @@ bool RTDEWriter::sendToolDigitalOutput(uint8_t output_pin, bool value)
{
digital_output = 0;
}
success = package->setData("tooldigital_output_mask", mask);
success = success && package->setData("tooldigital_output", digital_output);
success = package->setData("tool_digital_output_mask", mask);
success = success && package->setData("tool_digital_output", digital_output);
if (success)
{