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separated the initialize() method fixes #79 #81

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separated the initialize() method fixes #79 #81

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1 change: 1 addition & 0 deletions robotis_controller/include/robotis_controller/robotis_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,7 @@ class RobotisController : public Singleton<RobotisController>
RobotisController();

bool initialize(const std::string robot_file_path, const std::string init_file_path);
bool initialize(Robot *robot, const std::string init_file_path);
void initializeDevice(const std::string init_file_path);
void process();

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8 changes: 7 additions & 1 deletion robotis_controller/src/robotis_controller/robotis_controller.cpp
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Expand Up @@ -199,8 +199,14 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
std::string dev_desc_dir_path = ros::package::getPath("robotis_device") + "/devices";

// load robot info : port , device
robot_ = new Robot(robot_file_path, dev_desc_dir_path);
Robot *new_robot = new Robot(robot_file_path, dev_desc_dir_path);
initialize(new_robot, init_file_path);
}


bool RobotisController::initialize(Robot *robot, const std::string init_file_path)
{
robot_ = robot;
if (gazebo_mode_ == true)
{
queue_thread_ = boost::thread(boost::bind(&RobotisController::msgQueueThread, this));
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