From 9b3e4c86569fbd72e20865fb7f9c475a94b28c36 Mon Sep 17 00:00:00 2001
From: Simon Gabl <simon.gabl@franka.de>
Date: Mon, 29 Jan 2018 11:50:11 +0100
Subject: [PATCH] Added three new errors to franka_msgs::Errors.

---
 franka_control/src/franka_state_controller.cpp | 7 +++++++
 franka_msgs/msg/Errors.msg                     | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/franka_control/src/franka_state_controller.cpp b/franka_control/src/franka_state_controller.cpp
index fb6d22e..2faa5ae 100644
--- a/franka_control/src/franka_state_controller.cpp
+++ b/franka_control/src/franka_state_controller.cpp
@@ -120,6 +120,13 @@ franka_msgs::Errors errorsToMessage(const franka::Errors& error) {
           error.communication_constraints_violation);
   message.power_limit_violation =
       static_cast<decltype(message.power_limit_violation)>(error.power_limit_violation);
+  message.joint_p2p_insufficient_torque_for_planning =
+      static_cast<decltype(message.joint_p2p_insufficient_torque_for_planning)>(
+          error.joint_p2p_insufficient_torque_for_planning);
+  message.tau_j_range_violation =
+      static_cast<decltype(message.tau_j_range_violation)>(error.tau_j_range_violation);
+  message.instability_detected =
+      static_cast<decltype(message.instability_detected)>(error.instability_detected);
   return message;
 }
 
diff --git a/franka_msgs/msg/Errors.msg b/franka_msgs/msg/Errors.msg
index cddeed8..a50780f 100644
--- a/franka_msgs/msg/Errors.msg
+++ b/franka_msgs/msg/Errors.msg
@@ -31,3 +31,6 @@ bool controller_torque_discontinuity
 bool start_elbow_sign_inconsistent
 bool communication_constraints_violation
 bool power_limit_violation
+bool joint_p2p_insufficient_torque_for_planning
+bool tau_j_range_violation
+bool instability_detected
-- 
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