From 9fecd0844f6519ef5f852058711de4bc8eeea220 Mon Sep 17 00:00:00 2001 From: Florian Walch <florian.walch@franka.de> Date: Thu, 17 May 2018 16:48:15 +0200 Subject: [PATCH] Don't run ROS callback before exiting loop --- franka_hw/include/franka_hw/franka_hw.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h index 845989d..bca555c 100644 --- a/franka_hw/include/franka_hw/franka_hw.h +++ b/franka_hw/include/franka_hw/franka_hw.h @@ -174,8 +174,7 @@ class FrankaHW : public hardware_interface::RobotHW { const franka::RobotState& robot_state, franka::Duration time_step) { robot_state_ = robot_state; - bool controller_active = controller_active_; - if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active) { + if (!controller_active_ || ros_callback && !ros_callback(robot_state, time_step)) { return franka::MotionFinished(command); } return command; -- GitLab