Obbart/universal_robots_ros_driver
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renamed hardware interface function that handles changes in robot-program state

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This commit is contained in:
Tristan Schnell
2019-06-11 11:37:58 +02:00
parent ac9b4ef73a
commit e4a2e9e743
2 changed files with 3 additions and 4 deletions
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2
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
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@@ -65,7 +65,7 @@ public:
bool isRobotProgramRunning() const; bool isRobotProgramRunning() const;
void handleRobotProgramStop(bool program_running); void handleRobotProgramState(bool program_running);
protected: protected:
/*! /*!

5
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -68,7 +68,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ROS_INFO_STREAM("Initializing urdriver"); ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename, 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_)) 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"); ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
return true; return true;
} }
@@ -272,7 +271,7 @@ bool HardwareInterface ::isRobotProgramRunning() const
return robot_program_running_; return robot_program_running_;
} }
void HardwareInterface ::handleRobotProgramStop(bool program_running) void HardwareInterface ::handleRobotProgramState(bool program_running)
{ {
robot_program_running_ = program_running; robot_program_running_ = program_running;
std_msgs::Bool msg; std_msgs::Bool msg;