From 50c03d828248c8b2c64a918a448d6845602d8c52 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Thu, 17 May 2018 16:02:23 +0200
Subject: [PATCH] Exit control loop if controller was deactivated
---
franka_hw/include/franka_hw/franka_hw.h | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h
index 9d967f4..845989d 100644
--- a/franka_hw/include/franka_hw/franka_hw.h
+++ b/franka_hw/include/franka_hw/franka_hw.h
@@ -174,7 +174,8 @@ class FrankaHW : public hardware_interface::RobotHW {
const franka::RobotState& robot_state,
franka::Duration time_step) {
robot_state_ = robot_state;
- if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active_) {
+ bool controller_active = controller_active_;
+ if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active) {
return franka::MotionFinished(command);
}
return command;
--
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