From 2b424cb47900cea532c5010cd5599a52a3893b9f Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Wed, 24 Jan 2018 18:16:58 +0100
Subject: [PATCH] Fix franka_gripper_node publishing
---
CHANGELOG.md | 5 +++--
franka_gripper/src/franka_gripper_node.cpp | 20 +++++++++-----------
2 files changed, 12 insertions(+), 13 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7595df6..c4244d7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,8 +6,9 @@
* Added epsilon to grasp action
* Added `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal` and `I_total`
to the robot state
- * Use O_T_EE_d in examples
- * Fix includes for Eigen3 in `franka_example_controllers`
+ * Use `O_T_EE_d` in examples
+ * Fixed includes for Eigen3 in `franka_example_controllers`
+ * Fixed gripper state publishing in `franka_gripper_node`
## 0.1.2 - 2017-10-10
diff --git a/franka_gripper/src/franka_gripper_node.cpp b/franka_gripper/src/franka_gripper_node.cpp
index 7c9c27c..8b5b5ea 100644
--- a/franka_gripper/src/franka_gripper_node.cpp
+++ b/franka_gripper/src/franka_gripper_node.cpp
@@ -11,7 +11,6 @@
#include <ros/rate.h>
#include <ros/spinner.h>
#include <sensor_msgs/JointState.h>
-#include <xmlrpcpp/XmlRpc.h>
#include <franka/gripper_state.h>
#include <franka_gripper/franka_gripper.h>
@@ -133,27 +132,26 @@ int main(int argc, char** argv) {
<< publish_rate);
}
- XmlRpc::XmlRpcValue params;
- if (!node_handle.getParam("joint_names", params)) {
+ std::vector<std::string> joint_names;
+ if (!node_handle.getParam("joint_names", joint_names)) {
ROS_ERROR("franka_gripper_node: Could not parse joint_names!");
return -1;
}
- if (params.size() != 2) {
+ if (joint_names.size() != 2) {
ROS_ERROR("franka_gripper_node: Got wrong number of joint_names!");
return -1;
}
- std::vector<std::string> joint_names(params.size());
- for (int i = 0; i < params.size(); ++i) {
- joint_names[i] = static_cast<std::string>(params[i]);
- }
franka::GripperState gripper_state;
std::mutex gripper_state_mutex;
std::thread read_thread([&gripper_state, &gripper, &gripper_state_mutex]() {
ros::Rate read_rate(10);
- while (read_rate.sleep() && ros::ok()) {
- std::lock_guard<std::mutex> lock(gripper_state_mutex);
- updateGripperState(gripper, &gripper_state);
+ while (ros::ok()) {
+ {
+ std::lock_guard<std::mutex> _(gripper_state_mutex);
+ updateGripperState(gripper, &gripper_state);
+ }
+ read_rate.sleep();
}
});
--
GitLab