From 4bbcd60af75a725ef87b7255e610cc3f2d6b3a0a Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Tue, 20 Mar 2018 16:49:59 +0100
Subject: [PATCH] Update Cartesian example controllers
---
.../cartesian_pose_example_controller.h | 4 +---
.../cartesian_velocity_example_controller.h | 4 +---
.../src/cartesian_pose_example_controller.cpp | 5 ++---
.../src/cartesian_velocity_example_controller.cpp | 5 ++---
4 files changed, 6 insertions(+), 12 deletions(-)
diff --git a/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h b/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
index e66503a..e712c7a 100644
--- a/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/cartesian_pose_example_controller.h
@@ -20,9 +20,7 @@ class CartesianPoseExampleController
: public controller_interface::MultiInterfaceController<franka_hw::FrankaPoseCartesianInterface,
franka_hw::FrankaStateInterface> {
public:
- bool init(hardware_interface::RobotHW* robot_hardware,
- ros::NodeHandle& root_node_handle,
- ros::NodeHandle& /* controller_node_handle */) override;
+ bool init(hardware_interface::RobotHW* robot_hardware, ros::NodeHandle& node_handle) override;
void starting(const ros::Time&) override;
void update(const ros::Time&, const ros::Duration& period) override;
diff --git a/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h b/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
index 15d4970..95d4ace 100644
--- a/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/cartesian_velocity_example_controller.h
@@ -18,9 +18,7 @@ class CartesianVelocityExampleController : public controller_interface::MultiInt
franka_hw::FrankaVelocityCartesianInterface,
franka_hw::FrankaStateInterface> {
public:
- bool init(hardware_interface::RobotHW* robot_hardware,
- ros::NodeHandle& root_node_handle,
- ros::NodeHandle& /* controller_node_handle */) override;
+ bool init(hardware_interface::RobotHW* robot_hardware, ros::NodeHandle& node_handle) override;
void update(const ros::Time&, const ros::Duration& period) override;
void starting(const ros::Time&) override;
void stopping(const ros::Time&) override;
diff --git a/franka_example_controllers/src/cartesian_pose_example_controller.cpp b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
index 4389fa0..ae1b787 100644
--- a/franka_example_controllers/src/cartesian_pose_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
@@ -15,8 +15,7 @@
namespace franka_example_controllers {
bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_hardware,
- ros::NodeHandle& root_node_handle,
- ros::NodeHandle& /* controller_node_handle */) {
+ ros::NodeHandle& node_handle) {
cartesian_pose_interface_ = robot_hardware->get<franka_hw::FrankaPoseCartesianInterface>();
if (cartesian_pose_interface_ == nullptr) {
ROS_ERROR(
@@ -26,7 +25,7 @@ bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_har
}
std::string arm_id;
- if (!root_node_handle.getParam("arm_id", arm_id)) {
+ if (!node_handle.getParam("arm_id", arm_id)) {
ROS_ERROR("CartesianPoseExampleController: Could not get parameter arm_id");
return false;
}
diff --git a/franka_example_controllers/src/cartesian_velocity_example_controller.cpp b/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
index ad7b64b..59e0f6f 100644
--- a/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_velocity_example_controller.cpp
@@ -15,10 +15,9 @@
namespace franka_example_controllers {
bool CartesianVelocityExampleController::init(hardware_interface::RobotHW* robot_hardware,
- ros::NodeHandle& root_node_handle,
- ros::NodeHandle& /* controller_node_handle */) {
+ ros::NodeHandle& node_handle) {
std::string arm_id;
- if (!root_node_handle.getParam("arm_id", arm_id)) {
+ if (!node_handle.getParam("arm_id", arm_id)) {
ROS_ERROR("CartesianVelocityExampleController: Could not get parameter arm_id");
return false;
}
--
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