Only load speed scaling interface

MGBla · MGBla · commit 00727bfdc580 · 2021-02-15T15:34:06.000+01:00
diff --git a/ur_controllers/src/speed_scaling_state_controller.cpp b/ur_controllers/src/speed_scaling_state_controller.cpp
@@ -65,7 +65,10 @@ controller_interface::InterfaceConfiguration SpeedScalingStateController::comman
 
 controller_interface::InterfaceConfiguration SpeedScalingStateController::state_interface_configuration() const
 {
-  return controller_interface::InterfaceConfiguration{ controller_interface::interface_configuration_type::ALL };
+  controller_interface::InterfaceConfiguration config;
+  config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
+  config.names.push_back("speed_scaling/speed_scaling_factor");
+  return config;
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -129,7 +129,7 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
   }
 
   state_interfaces.emplace_back(
-      hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_combined_));
+      hardware_interface::StateInterface("speed_scaling", "speed_scaling_factor", &speed_scaling_combined_));
 
   for (auto& sensor : info_.sensors)
   {

Original file line number	Diff line number	Diff line change
`@@ -65,7 +65,10 @@ controller_interface::InterfaceConfiguration SpeedScalingStateController::comman`
`65`	`65`
`66`	`66`	`controller_interface::InterfaceConfiguration SpeedScalingStateController::state_interface_configuration() const`
`67`	`67`	`{`
`68`		`- return controller_interface::InterfaceConfiguration{ controller_interface::interface_configuration_type::ALL };`
	`68`	`+ controller_interface::InterfaceConfiguration config;`
	`69`	`+ config.type = controller_interface::interface_configuration_type::INDIVIDUAL;`
	`70`	`+ config.names.push_back("speed_scaling/speed_scaling_factor");`
	`71`	`+ return config;`
`69`	`72`	`}`
`70`	`73`
`71`	`74`	`rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn`
Original file line number	Diff line number	Diff line change
`@@ -129,7 +129,7 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp`
`129`	`129`	`}`
`130`	`130`
`131`	`131`	`state_interfaces.emplace_back(`
`132`		`- hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_combined_));`
	`132`	`+ hardware_interface::StateInterface("speed_scaling", "speed_scaling_factor", &speed_scaling_combined_));`
`133`	`133`
`134`	`134`	`for (auto& sensor : info_.sensors)`
`135`	`135`	`{`