From 20967f78d2aa8ff0d5485fd7a23683dbe82baa67 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Tue, 6 Aug 2019 10:27:38 +0200
Subject: [PATCH] removes rt config param parsing from hw node
---
franka_control/src/franka_control_node.cpp | 11 -----------
1 file changed, 11 deletions(-)
diff --git a/franka_control/src/franka_control_node.cpp b/franka_control/src/franka_control_node.cpp
index 07dc710..fae2f0f 100644
--- a/franka_control/src/franka_control_node.cpp
+++ b/franka_control/src/franka_control_node.cpp
@@ -31,17 +31,6 @@ int main(int argc, char** argv) {
franka::Robot& robot = franka_control.robot();
- std::string realtime_config_param = node_handle.param("realtime_config", std::string("enforce"));
- franka::RealtimeConfig realtime_config;
- if (realtime_config_param == "enforce") {
- realtime_config = franka::RealtimeConfig::kEnforce;
- } else if (realtime_config_param == "ignore") {
- realtime_config = franka::RealtimeConfig::kIgnore;
- } else {
- ROS_ERROR("Invalid realtime_config parameter provided. Valid values are 'enforce', 'ignore'.");
- return 1;
- }
-
std::atomic_bool has_error(false);
ServiceContainer services;
--
GitLab