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Ensure MoveItConfigsBuilder Compatibility #28

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Ensure MoveItConfigsBuilder Compatibility #28

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6650663
fix substr index
peterdavidfagan Feb 10, 2023
5d6123b
remove underscore from public members in MotionPlanResponse
peterdavidfagan Feb 15, 2023
5dce8da
rename start/stop nomenclature to align with ros2_control updates
peterdavidfagan May 7, 2023
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12 changes: 6 additions & 6 deletions xarm_controller/src/hardware/uf_robot_system_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ namespace uf_robot_hardware
robot_ip_ = "";
auto it = info_.hardware_parameters.find("robot_ip");
if (it != info_.hardware_parameters.end()) {
robot_ip_ = it->second.substr(1);
robot_ip_ = it->second.substr(0);
}
if (robot_ip_ == "") {
RCLCPP_ERROR(LOGGER, "[%s] No param named 'robot_ip'", robot_ip_.c_str());
Expand Down Expand Up @@ -144,7 +144,7 @@ namespace uf_robot_hardware
robot_ip_ = "";
it = info_.hardware_parameters.find("robot_ip");
if (it != info_.hardware_parameters.end()) {
robot_ip_ = it->second.substr(1);
robot_ip_ = it->second.substr(0);
}
if (robot_ip_ == "") {
RCLCPP_ERROR(LOGGER, "[%s] No param named 'robot_ip'", robot_ip_.c_str());
Expand Down Expand Up @@ -407,11 +407,11 @@ namespace uf_robot_hardware
void UFRobotSystemHardware::_reload_controller(void) {
int ret = _call_request(client_list_controller_, req_list_controller_, res_list_controller_);
if (ret == 0 && res_list_controller_->controller.size() > 0) {
req_switch_controller_->start_controllers.resize(res_list_controller_->controller.size());
req_switch_controller_->stop_controllers.resize(res_list_controller_->controller.size());
req_switch_controller_->activate_controllers.resize(res_list_controller_->controller.size());
req_switch_controller_->deactivate_controllers.resize(res_list_controller_->controller.size());
for (uint i = 0; i < res_list_controller_->controller.size(); i++) {
req_switch_controller_->start_controllers[i] = res_list_controller_->controller[i].name;
req_switch_controller_->stop_controllers[i] = res_list_controller_->controller[i].name;
req_switch_controller_->activate_controllers[i] = res_list_controller_->controller[i].name;
req_switch_controller_->deactivate_controllers[i] = res_list_controller_->controller[i].name;
}
req_switch_controller_->strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
_call_request(client_switch_controller_, req_switch_controller_, res_switch_controller_);
Expand Down
2 changes: 1 addition & 1 deletion xarm_planner/src/xarm_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ bool XArmPlanner::planCartesianPath(const std::vector<geometry_msgs::msg::Pose>&
RCLCPP_ERROR(node_->get_logger(), "planCartesianPath: plan failed, fraction=%lf", fraction);
return false;
}
xarm_plan_.trajectory_ = trajectory;
xarm_plan_.trajectory = trajectory;
return true;
}

Expand Down