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Stack Of Tasks
roscontrol_sot
Commits
9e39034f
Commit
9e39034f
authored
Nov 27, 2021
by
Florent Lamiraux
Browse files
Compatibility with ROS-noetic
parent
e90be9a1
Pipeline
#16988
failed
Changes
1
Pipelines
1
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Inline
Side-by-side
src/roscontrol-sot-controller.cpp
View file @
9e39034f
...
...
@@ -168,11 +168,12 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
bool
RCSotController
::
initInterfaces
(
lhi
::
RobotHW
*
robot_hw
,
ros
::
NodeHandle
&
,
ros
::
NodeHandle
&
,
ClaimedResources
&
claimed_resources
)
{
using
controller_interface
::
ControllerBase
;
std
::
string
lns
;
lns
=
"hardware_interface"
;
// Check if construction finished cleanly
if
(
state_
!=
CONSTRUCTED
)
{
if
(
state_
!=
ControllerBase
::
ControllerState
::
CONSTRUCTED
)
{
ROS_ERROR
(
"Cannot initialize this controller because it "
"failed to be constructed"
);
}
...
...
@@ -319,7 +320,7 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
if
(
verbosity_level_
>
0
)
ROS_INFO_STREAM
(
"Initialization of sot-controller Ok !"
);
// success
state_
=
INITIALIZED
;
state_
=
ControllerBase
::
ControllerState
::
INITIALIZED
;
return
true
;
}
...
...
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