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Only append to start_modes in prepare_switch #1344

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Merged
merged 2 commits into from
Apr 24, 2025
Merged

Only append to start_modes in prepare_switch #1344

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99943b9
Only append to start_modes in prepare_switch
urfeex Apr 15, 2025
de395b2
Merge branch 'main' into fix_tool_contact_after_program_restart
urfeex Apr 23, 2025
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16 changes: 8 additions & 8 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1099,12 +1099,6 @@
}
}

if (!std::all_of(start_modes_.begin() + 1, start_modes_.end(),
[&](const std::vector<std::string>& other) { return other == start_modes_[0]; })) {
RCLCPP_ERROR(get_logger(), "Start modes of all joints have to be the same.");
return hardware_interface::return_type::ERROR;
}

// Starting interfaces
// If a joint has been reserved already, raise an error.
// Modes that are not directly mapped to a single joint such as force_mode reserve all joints.
Expand All @@ -1119,7 +1113,7 @@
"requested.");
return hardware_interface::return_type::ERROR;
}
start_modes_[i] = { hardware_interface::HW_IF_POSITION };
start_modes_[i].push_back(hardware_interface::HW_IF_POSITION);

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ur_robot_driver/src/hardware_interface.cpp#L1116 

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} else if (key == info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY) {
if (std::any_of(start_modes_[i].begin(), start_modes_[i].end(), [&](const std::string& item) {
return item == hardware_interface::HW_IF_POSITION || item == PASSTHROUGH_GPIO ||
Expand All @@ -1129,7 +1123,7 @@
"requested.");
return hardware_interface::return_type::ERROR;
}
start_modes_[i] = { hardware_interface::HW_IF_VELOCITY };
start_modes_[i].push_back(hardware_interface::HW_IF_VELOCITY);

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} else if (key == tf_prefix + FORCE_MODE_GPIO + "/type") {
if (std::any_of(start_modes_[i].begin(), start_modes_[i].end(), [&](const std::string& item) {
return item == hardware_interface::HW_IF_POSITION || item == hardware_interface::HW_IF_VELOCITY;
Expand Down Expand Up @@ -1169,6 +1163,12 @@
}
}

if (!std::all_of(start_modes_.begin() + 1, start_modes_.end(),
[&](const std::vector<std::string>& other) { return other == start_modes_[0]; })) {
RCLCPP_ERROR(get_logger(), "Start modes of all joints have to be the same.");
return hardware_interface::return_type::ERROR;

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Added lines #L1167 - L1169 were not covered by tests
}

// Stopping interfaces
// add stop interface per joint in tmp var for later check
for (const auto& key : stop_interfaces) {
Expand Down
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