Apply suggestions from code review

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

Author: URJala

ur_controllers/include/ur_controllers/tool_contact_controller.hpp

@@ -90,8 +90,9 @@ class ToolContactController : public controller_interface::ControllerInterface
 
   RealtimeGoalHandleBuffer rt_active_goal_;         ///< Currently active action goal, if any.
   rclcpp::TimerBase::SharedPtr goal_handle_timer_;  ///< Timer to frequently check on the running goal
-  rclcpp::Duration action_monitor_period_ = rclcpp::Duration::from_seconds(0.05);
 
+  // non-rt function that will be called with action_monitor_period to monitor the rt action
+  rclcpp::Duration action_monitor_period_ = rclcpp::Duration::from_seconds(0.05);
   void action_handler();
 
   rclcpp_action::GoalResponse goal_received_callback(const rclcpp_action::GoalUUID& /*uuid*/,
@@ -100,7 +101,7 @@ class ToolContactController : public controller_interface::ControllerInterface
   void
   goal_accepted_callback(std::shared_ptr<rclcpp_action::ServerGoalHandle<ur_msgs::action::ToolContact>> goal_handle);
 
-  rclcpp_action::CancelResponse goal_cancelled_callback(
+  rclcpp_action::CancelResponse goal_canceled_callback(
       const std::shared_ptr<rclcpp_action::ServerGoalHandle<ur_msgs::action::ToolContact>> goal_handle);
 
   std::atomic<bool> tool_contact_enable_ = false;

ur_robot_driver/src/hardware_interface.cpp

@@ -944,7 +944,7 @@ void URPositionHardwareInterface::check_tool_contact_controller()
       }
 
     } else if (cmd_state == 5.0) {
-      bool success = static_cast<double>(ur_driver_->endToolContact());
+      bool success = ur_driver_->endToolContact();
       if (success) {
         // TOOL_CONTACT_SUCCESS_END
         tool_contact_state_ = 6.0;
@@ -1332,6 +1332,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
                                            StoppingInterface::STOP_TOOL_CONTACT) != stop_modes_[0].end()) {
     tool_contact_controller_running_ = false;
     tool_contact_result_ = 3.0;
+    ur_driver_->endToolContact();
   }
 
   if (start_modes_.size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),

ur_robot_driver/test/integration_test_tool_contact.py

@@ -101,7 +101,7 @@ def test_start_tool_contact_controller(self):
             ).ok
         )
 
-    def test_goal_can_be_cancelled(self):
+    def test_goal_can_be_canceled(self):
         self.assertTrue(
             self._controller_manager_interface.switch_controller(
                 strictness=SwitchController.Request.BEST_EFFORT,