Exchanged hardcoded value for RobotState msgs enum

Author: MGBla

ur_robot_driver/include/ur_robot_driver/hardware_interface.h

@@ -43,6 +43,7 @@
 // UR stuff
 #include <ur_client_library/ur/ur_driver.h>
 #include <ur_robot_driver/dashboard_client_ros.h>
+#include <ur_dashboard_msgs/msg/robot_mode.hpp>
 
 // ROS
 #include "rclcpp/macros.hpp"

ur_robot_driver/src/hardware_interface.cpp

@@ -520,8 +520,7 @@ void URPositionHardwareInterface::extractRobotStatus()
   {
     robot_status_resource_.motion_possible = TriState::FALSE;
   }
-  // TODO The hardcoded 7 should be ur_dashboard_msgs::RobotMode::RUNNING exchange when msgs are built
-  else if (robot_mode_ == 7)
+  else if (robot_mode_ == ur_dashboard_msgs::msg::RobotMode::RUNNING)
   {
     robot_status_resource_.motion_possible = TriState::TRUE;
   }