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Refactor prepare_switch method (backport #1417) #1427

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Merged
merged 2 commits into from
Jun 23, 2025
Merged

Refactor prepare_switch method (backport #1417) #1427

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c1bcc12
Refactor prepare_switch method (#1417)
urfeex Jun 23, 2025
786b888
Resolve conflicts
urfeex Jun 23, 2025
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6 changes: 5 additions & 1 deletion ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,11 @@
#define UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_

// System
#include <limits>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include <limits>

// ros2_control hardware_interface
#include "hardware_interface/hardware_info.hpp"
Expand Down Expand Up @@ -114,6 +115,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
{
public:
RCLCPP_SHARED_PTR_DEFINITIONS(URPositionHardwareInterface);
URPositionHardwareInterface();
virtual ~URPositionHardwareInterface();

hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& system_info) final;
Expand Down Expand Up @@ -316,6 +318,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
const std::string FORCE_MODE_GPIO = "force_mode";
const std::string FREEDRIVE_MODE_GPIO = "freedrive_mode";
const std::string TOOL_CONTACT_GPIO = "tool_contact";

std::unordered_map<std::string, std::unordered_map<std::string, bool>> mode_compatibility_;
};
} // namespace ur_robot_driver

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