From e4a2e9e743adce643e2d3e7f540c774976108f6b Mon Sep 17 00:00:00 2001 From: Tristan Schnell Date: Tue, 11 Jun 2019 11:37:58 +0200 Subject: [PATCH] renamed hardware interface function that handles changes in robot-program state --- .../include/ur_rtde_driver/ros/hardware_interface.h | 2 +- ur_rtde_driver/src/ros/hardware_interface.cpp | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h index efe0995..d89ce1e 100644 --- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h +++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h @@ -65,7 +65,7 @@ public: bool isRobotProgramRunning() const; - void handleRobotProgramStop(bool program_running); + void handleRobotProgramState(bool program_running); protected: /*! diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp index 0bc19e0..8a7fbbe 100644 --- a/ur_rtde_driver/src/ros/hardware_interface.cpp +++ b/ur_rtde_driver/src/ros/hardware_interface.cpp @@ -68,7 +68,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h ROS_INFO_STREAM("Initializing urdriver"); ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename, - std::bind(&HardwareInterface::handleRobotProgramStop, this, std::placeholders::_1))); + std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1))); if (!root_nh.getParam("hardware_interface/joints", joint_names_)) { @@ -108,7 +108,6 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface"); - return true; } @@ -272,7 +271,7 @@ bool HardwareInterface ::isRobotProgramRunning() const return robot_program_running_; } -void HardwareInterface ::handleRobotProgramStop(bool program_running) +void HardwareInterface ::handleRobotProgramState(bool program_running) { robot_program_running_ = program_running; std_msgs::Bool msg;