Changed state interface to combined speed scaling factor

MGBla · MGBla · commit a7f4a9307c17 · 2021-02-12T09:05:25.000+01:00
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -128,7 +128,8 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
         info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
   }
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_combined_));
 
   for (auto& sensor : info_.sensors)
   {

Original file line number	Diff line number	Diff line change
`@@ -128,7 +128,8 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp`
`128`	`128`	`info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));`
`129`	`129`	`}`
`130`	`130`
`131`		`- state_interfaces.emplace_back(hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_));`
	`131`	`+ state_interfaces.emplace_back(`
	`132`	`+ hardware_interface::StateInterface("speed", "speed_scaling_factor", &speed_scaling_combined_));`
`132`	`133`
`133`	`134`	`for (auto& sensor : info_.sensors)`
`134`	`135`	`{`