removed second ur_driver_->registerToolContactResultCallback()

mathias31415 · mathias31415 · commit 0cc909f102bd · 2025-07-29T10:02:02.000+02:00
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -732,9 +732,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   ur_driver_->registerToolContactResultCallback(
       std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));
 
-  ur_driver_->registerToolContactResultCallback(
-      std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));
-
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -732,9 +732,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou`
`732`	`732`	`ur_driver_->registerToolContactResultCallback(`
`733`	`733`	`std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));`
`734`	`734`
`735`		`- ur_driver_->registerToolContactResultCallback(`
`736`		`- std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));`
`737`		`-`
`738`	`735`	`return hardware_interface::CallbackReturn::SUCCESS;`
`739`	`736`	`}`
`740`	`737`