From 3ac977cffaf4b77ae52d8fc4afe22e04ca1276c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Thu, 25 Jul 2019 17:44:46 +0200
Subject: [PATCH] added more detail to explanation why only torque

---
 franka_hw/include/franka_hw/franka_combinable_hw.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/franka_hw/include/franka_hw/franka_combinable_hw.h b/franka_hw/include/franka_hw/franka_combinable_hw.h
index d87f6cd..4d2ed21 100644
--- a/franka_hw/include/franka_hw/franka_combinable_hw.h
+++ b/franka_hw/include/franka_hw/franka_combinable_hw.h
@@ -23,8 +23,9 @@ namespace franka_hw {
  * A hardware class for a Panda robot based on the ros_control framework.
  * This class is ready to be combined with other hardware classes e.g. to
  * control mulitple robots from a single controller.
- * Note: This class allows for torque (effort) control only (see documentation at
- * https://frankaemika.github.io/docs/franka_ros.html ).
+ * Note: This class allows for torque (effort) control only due to the lack of synchronization
+ * between master controllers of different robots. For more information see the documentation at
+ * https://frankaemika.github.io/docs/franka_ros.html .
  */
 class FrankaCombinableHW : public FrankaHW {
  public:
-- 
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