Merge pull request #42 in SRR/franka_ros2 from hotfix/remove-error-re…

…sponse-in-write to humble * commit '8b186d525b99f8ec018e4c70c776d42d2bc4f30b': fix: remove error response in write
frankaemika · Aug 24, 2023 · 2483790 · 2483790
2 parents d52354c + 8b186d5
commit 2483790
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diff --git a/franka_hardware/src/franka_hardware_interface.cpp b/franka_hardware/src/franka_hardware_interface.cpp
@@ -106,10 +106,6 @@ hardware_interface::return_type FrankaHardwareInterface::write(const rclcpp::Tim
   }
   if (effort_interface_running_) {
     robot_->writeOnce(hw_commands_);
-  } else {
-    RCLCPP_FATAL(getLogger(),
-                 "Effort interface is not running. Did you claim the command interface?");
-    return hardware_interface::return_type::ERROR;
   }
   return hardware_interface::return_type::OK;
 }

diff --git a/franka_hardware/test/franka_hardware_interface_test.cpp b/franka_hardware/test/franka_hardware_interface_test.cpp
@@ -439,21 +439,6 @@ TEST(FrankaHardwareInterfaceTest,
             hardware_interface::return_type::OK);
 }
 
-TEST(FrankaHardwareInterfaceTest,
-     given_effort_interface_not_claimed_when_write_called_expect_error_response) {
-  auto mock_robot = std::make_shared<MockRobot>();
-
-  franka_hardware::FrankaHardwareInterface franka_hardware_interface(mock_robot);
-
-  const auto time = rclcpp::Time(0, 0);
-  const auto duration = rclcpp::Duration(0, 0);
-
-  const auto hardware_info = createHardwareInfo();
-  franka_hardware_interface.on_init(hardware_info);
-  EXPECT_EQ(franka_hardware_interface.write(time, duration),
-            hardware_interface::return_type::ERROR);
-}
-
 TEST(FrankaHardwareInterfaceTest,
      given_that_effort_control_started_perform_command_mode_switch_stop_expect_ok) {
   auto mock_robot = std::make_shared<MockRobot>();