Change status to set_state in start_interfaces

URJala · URJala · commit e77410c6c10d · 2025-03-27T07:36:04.000Z
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -1182,7 +1182,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                                               [&](const std::string& item) { return item == FREEDRIVE_MODE_GPIO; }),
                                control_modes[i].end());
       }
-      if (key == tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_status") {
+      if (key == tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state") {
         stop_modes_[i].push_back(StoppingInterface::STOP_TOOL_CONTACT);
         control_modes[i].erase(std::remove_if(control_modes[i].begin(), control_modes[i].end(),
                                               [&](const std::string& item) { return item == TOOL_CONTACT_GPIO; }),

Original file line number	Diff line number	Diff line change
`@@ -1182,7 +1182,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod`
`1182`	`1182`	`[&](const std::string& item) { return item == FREEDRIVE_MODE_GPIO; }),`
`1183`	`1183`	`control_modes[i].end());`
`1184`	`1184`	`}`
`1185`		`- if (key == tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_status") {`
	`1185`	`+ if (key == tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state") {`
`1186`	`1186`	`stop_modes_[i].push_back(StoppingInterface::STOP_TOOL_CONTACT);`
`1187`	`1187`	`control_modes[i].erase(std::remove_if(control_modes[i].begin(), control_modes[i].end(),`
`1188`	`1188`	`[&](const std::string& item) { return item == TOOL_CONTACT_GPIO; }),`