Commit 9e39034f authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Compatibility with ROS-noetic

parent e90be9a1
Pipeline #16988 failed
...@@ -168,11 +168,12 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw, ...@@ -168,11 +168,12 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &, bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
ros::NodeHandle &, ros::NodeHandle &,
ClaimedResources &claimed_resources) { ClaimedResources &claimed_resources) {
using controller_interface::ControllerBase;
std::string lns; std::string lns;
lns = "hardware_interface"; lns = "hardware_interface";
// Check if construction finished cleanly // Check if construction finished cleanly
if (state_ != CONSTRUCTED) { if (state_ != ControllerBase::ControllerState::CONSTRUCTED) {
ROS_ERROR("Cannot initialize this controller because it " ROS_ERROR("Cannot initialize this controller because it "
"failed to be constructed"); "failed to be constructed");
} }
...@@ -319,7 +320,7 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &, ...@@ -319,7 +320,7 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
if (verbosity_level_ > 0) if (verbosity_level_ > 0)
ROS_INFO_STREAM("Initialization of sot-controller Ok !"); ROS_INFO_STREAM("Initialization of sot-controller Ok !");
// success // success
state_ = INITIALIZED; state_ = ControllerBase::ControllerState::INITIALIZED;
return true; return true;
} }
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment