adapt example 1 to stored handle-names/descriptions in map

ros-controls · Aug 14, 2024 · c516af7 · c516af7
1 parent 95e2b19
commit c516af7
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/example_1/hardware/rrbot.cpp b/example_1/hardware/rrbot.cpp
@@ -101,11 +101,11 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure
  // END: This part here is for exemplary purposes - Please do not copy to your production code
 
  // reset values always when configuring hardware
- for (const auto & descr : joint_states_descriptions_)
+ for (const auto & [name, descr] : joint_state_interfaces_)
  {
  joint_state_set_value(descr, 0.0);
  }
- for (const auto & descr : joint_commands_descriptions_)
+ for (const auto & [name, descr] : joint_command_interfaces_)
  {
  joint_command_set_value(descr, 0.0);
  }
@@ -131,7 +131,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate(
  // END: This part here is for exemplary purposes - Please do not copy to your production code
 
  // command and state should be equal when starting
- for (const auto & descr : joint_states_descriptions_)
+ for (const auto & [name, descr] : joint_state_interfaces_)
  {
  joint_command_set_value(descr, joint_state_get_value(descr));
  }
@@ -168,7 +168,7 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::read(
  // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Reading...");
 
- for (const auto & descr : joint_states_descriptions_)
+ for (const auto & [name, descr] : joint_state_interfaces_)
  {
  auto new_value = joint_state_get_value(descr) +
  (joint_command_get_value(descr) - joint_state_get_value(descr)) / hw_slowdown_;
@@ -190,7 +190,7 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::write(
  // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Writing...");
 
- for (const auto & descr : joint_commands_descriptions_)
+ for (const auto & [name, descr] : joint_command_interfaces_)
  {
  // Simulate sending commands to the hardware
  RCLCPP_INFO_STREAM(