Update computeCommand to compute_command (UniversalRobots#1265)

urfeex · web-flow · commit 099336eaa9f4 · 2025-02-19T11:19:37.000+01:00
The former has been marked deprecated in control_toolbox.
diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -237,8 +237,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
           // Update PIDs
           for (auto i = 0ul; i < dof_; ++i) {
             tmp_command_[i] = (state_desired_.velocities[i] * ff_velocity_scale_[i]) +
-                              pids_[i]->computeCommand(state_error_.positions[i], state_error_.velocities[i],
-                                                       (uint64_t)period.nanoseconds());
+                              pids_[i]->compute_command(state_error_.positions[i], state_error_.velocities[i], period);
           }
         }
 

Original file line number	Diff line number	Diff line change
`@@ -237,8 +237,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const`
`237`	`237`	`// Update PIDs`
`238`	`238`	`for (auto i = 0ul; i < dof_; ++i) {`
`239`	`239`	`tmp_command_[i] = (state_desired_.velocities[i] * ff_velocity_scale_[i]) +`
`240`		`- pids_[i]->computeCommand(state_error_.positions[i], state_error_.velocities[i],`
`241`		`- (uint64_t)period.nanoseconds());`
	`240`	`+ pids_[i]->compute_command(state_error_.positions[i], state_error_.velocities[i], period);`
`242`	`241`	`}`
`243`	`242`	`}`
`244`	`243`