Move communication setup to on_configure instead of on_activate

UniversalRobots · Nov 14, 2023 · 86defa7 · 86defa7
1 parent 899a7fe
commit 86defa7
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -96,6 +96,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() final;
 
+  hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) final;
 

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -302,7 +302,7 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
 }
 
 hardware_interface::CallbackReturn
-URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous_state)
+URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previous_state)
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Starting ...please wait...");
 
@@ -462,6 +462,13 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
+hardware_interface::CallbackReturn
+URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous_state)
+{
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Activating HW interface");
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
 hardware_interface::CallbackReturn
 URPositionHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& previous_state)
 {