Obbart/universal_robots_ros_driver
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Set analog input domain on publishing

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This commit is contained in:
Felix Mauch
2019-09-19 16:50:01 +02:00
committed by Lea Steffen
parent d74708d2ee
commit f8ecc633ad
1 changed files with 2 additions and 1 deletions
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3
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -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();
}
}