Fix decision breaker for position control. Make decision effect instantaneous.

Author: livanov93

ur_robot_driver/include/ur_robot_driver/hardware_interface.h

@@ -138,7 +138,6 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   bool robot_program_running_;
   bool non_blocking_read_;
-
   bool position_interface_in_use_;
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;

ur_robot_driver/src/hardware_interface.cpp

@@ -393,7 +393,8 @@ return_type URPositionHardwareInterface::write()
       if (pos_diff_sum != 0.0)
         position_interface_in_use_ = true;
     }
-    else if (position_interface_in_use_)
+
+    if (position_interface_in_use_)
     {
       ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ);
     }