From f8ecc633ad9e64ab9dfab5bd502d03294e222b7d Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 19 Sep 2019 16:50:01 +0200 Subject: [PATCH] Set analog input domain on publishing --- ur_rtde_driver/src/ros/hardware_interface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp index add8bb0..3928b10 100644 --- a/ur_rtde_driver/src/ros/hardware_interface.cpp +++ b/ur_rtde_driver/src/ros/hardware_interface.cpp @@ -492,12 +492,13 @@ void HardwareInterface::publishIOData() for (size_t i = 0; i < standard_analog_input_.size(); ++i) { io_pub_->msg_.analog_in_states[i].state = standard_analog_input_[i]; + io_pub_->msg_.analog_in_states[i].domain = analog_io_types_[i]; } for (size_t i = 0; i < standard_analog_output_.size(); ++i) { io_pub_->msg_.analog_out_states[i].state = standard_analog_output_[i]; + io_pub_->msg_.analog_out_states[i].domain = analog_io_types_[i + 2]; } - // TODO: Handle analog domain io_pub_->unlockAndPublish(); } }