Update ur_configuration_controller to use RealtimeThreadSafeBox

URJala · urfeex · commit 765b4aa53ddd · 2025-09-15T11:57:26.000+02:00
diff --git a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
@@ -44,7 +44,7 @@
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
-#include <realtime_tools/realtime_box.hpp>
+#include <realtime_tools/realtime_thread_safe_box.hpp>
 
 #include "ur_msgs/srv/get_robot_software_version.hpp"
 #include "ur_controllers/ur_configuration_controller_parameters.hpp"
@@ -85,7 +85,7 @@ class URConfigurationController : public controller_interface::ControllerInterfa
   CallbackReturn on_init() override;
 
 private:
-  realtime_tools::RealtimeBox<std::shared_ptr<VersionInformation>> robot_software_version_{
+  realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<VersionInformation>> robot_software_version_{
     std::make_shared<VersionInformation>()
   };
   std::atomic<bool> robot_software_version_set_{ false };
diff --git a/ur_controllers/src/ur_configuration_controller.cpp b/ur_controllers/src/ur_configuration_controller.cpp
@@ -39,7 +39,6 @@
 //----------------------------------------------------------------------
 
 #include <ur_controllers/ur_configuration_controller.hpp>
-#include <realtime_tools/realtime_box.hpp>
 namespace ur_controllers
 {
 

Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,6 @@`
`39`	`39`	`//----------------------------------------------------------------------`
`40`	`40`
`41`	`41`	`#include <ur_controllers/ur_configuration_controller.hpp>`
`42`		`-#include <realtime_tools/realtime_box.hpp>`
`43`	`42`	`namespace ur_controllers`
`44`	`43`	`{`
`45`	`44`