bug fixes

ros-controls · Sep 21, 2023 · de2d3c9 · de2d3c9
1 parent adcba1e
commit de2d3c9
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Showing 2 changed files with 20 additions and 28 deletions.
diff --git a/example_11/hardware/carlikebot_system.cpp b/example_11/hardware/carlikebot_system.cpp
@@ -233,23 +233,20 @@ CarlikeBotSystemHardware::export_command_interfaces()
 hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_activate(
  const rclcpp_lifecycle::State & /*previous_state*/)
 {
- if (m_running_simulation)
- {
- RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Activating ...please wait...");
+ RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Activating ...please wait...");
 
-  for (auto i = 0; i < hw_start_sec_; i++)
-  {
-  rclcpp::sleep_for(std::chrono::seconds(1));
-  RCLCPP_INFO(
-  rclcpp::get_logger("CarlikeBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i);
-  }
+ for (auto i = 0; i < hw_start_sec_; i++)
+ {
+ rclcpp::sleep_for(std::chrono::seconds(1));
+ RCLCPP_INFO(
+ rclcpp::get_logger("CarlikeBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i);
+ }
 
- for (uint i = 0; i < hw_positions_.size(); i++)
- {
- hw_positions_[i] = 0.0;
- hw_velocities_[i] = 0.0;
- hw_commands_[i] = 0.0;
- }
+ for (uint i = 0; i < hw_positions_.size(); i++)
+ {
+ hw_positions_[i] = 0.0;
+ hw_velocities_[i] = 0.0;
+ hw_commands_[i] = 0.0;
  }
 
  RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Successfully activated!");
@@ -260,19 +257,16 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_activate(
 hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_deactivate(
  const rclcpp_lifecycle::State & /*previous_state*/)
 {
- if (m_running_simulation)
- {
- // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
- RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Deactivating ...please wait...");
+ // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
+ RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Deactivating ...please wait...");
 
- for (auto i = 0; i < hw_stop_sec_; i++)
- {
- rclcpp::sleep_for(std::chrono::seconds(1));
- RCLCPP_INFO(
- rclcpp::get_logger("CarlikeBotSystemHardware"), "%.1f seconds left...", hw_stop_sec_ - i);
- }
- // END: This part here is for exemplary purposes - Please do not copy to your production code
+ for (auto i = 0; i < hw_stop_sec_; i++)
+ {
+ rclcpp::sleep_for(std::chrono::seconds(1));
+ RCLCPP_INFO(
+ rclcpp::get_logger("CarlikeBotSystemHardware"), "%.1f seconds left...", hw_stop_sec_ - i);
  }
+ // END: This part here is for exemplary purposes - Please do not copy to your production code
  RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Successfully deactivated!");
 
  return hardware_interface::CallbackReturn::SUCCESS;

diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -68,8 +68,6 @@ class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
  const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 private:
- // Parameter disnguishing between simulation and physical robot
- bool m_running_simulation;
 
  // Parameters for the CarlikeBot simulation
  double hw_start_sec_;