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Co-authored-by: Felix Exner <[email protected]>

Author: urmahp

include/ur_client_library/control/script_command_interface.h

@@ -151,12 +151,12 @@ class ScriptCommandInterface : public ReverseInterface
    * \brief Set friction compensation for the torque_command. If true the torque command will compensate for friction,
    * if false it will not.
    *
-   * \param friction_compesation Will set a friction_compensation variable in urscript, which will be used when calling
+   * \param friction_compensation_enabled Will set a friction_compensation variable in urscript, which will be used when calling
    * torque_command
    *
    * \returns True, if the write was performed successfully, false otherwise.
    */
-  bool setFrictionCompensation(const bool friction_compensation);
+  bool setFrictionCompensation(const bool friction_compensation_enabled);
 
   /*!
    * \brief  Returns whether a client/robot is connected to this server.

include/ur_client_library/ur/ur_driver.h

@@ -718,12 +718,12 @@ class UrDriver
    * \brief Set friction compensation for the torque_command. If true the torque command will compensate for friction,
    * if false it will not.
    *
-   * \param friction_compesation Will set a friction_compensation variable in urscript, which will be used when calling
+   * \param friction_compensation_enabled Will set a friction_compensation variable in urscript, which will be used when calling
    * torque_command
    *
    * \returns True, if the write was performed successfully, false otherwise.
    */
-  bool setFrictionCompensation(const bool friction_compensation);
+  bool setFrictionCompensation(const bool friction_compensation_enabled);
 
   /*!
    * \brief Write a keepalive signal only.

src/control/script_command_interface.cpp

@@ -222,7 +222,7 @@ bool ScriptCommandInterface::endToolContact()
   return server_.write(client_fd_, buffer, sizeof(buffer), written);
 }
 
-bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compensation)
+bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compensation_enabled)
 {
   const int message_length = 2;
   uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
@@ -231,7 +231,7 @@ bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compens
   int32_t val = htobe32(toUnderlying(ScriptCommand::SET_FRICTION_COMPENSATION));
   b_pos += append(b_pos, val);
 
-  val = htobe32(friction_compensation);
+  val = htobe32(friction_compensation_enabled);
   b_pos += append(b_pos, val);
 
   // writing zeros to allow usage with other script commands