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Ex14: Remove is_finite check #560

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Aug 5, 2024
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Ex14: Remove is_finite check #560

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28 changes: 13 additions & 15 deletions example_14/hardware/rrbot_actuator_without_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -217,23 +217,21 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
{
if (std::isfinite(hw_joint_command_))
{
// START: This part here is for exemplary purposes - Please do not copy to your production code
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
// START: This part here is for exemplary purposes - Please do not copy to your production code
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);

// Simulate sending commands to the hardware
std::ostringstream data;
data << hw_joint_command_;
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
data.str().c_str());
send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
// Simulate sending commands to the hardware
std::ostringstream data;
data << hw_joint_command_;
RCLCPP_INFO(
rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
data.str().c_str());
send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);

RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
// END: This part here is for exemplary purposes - Please do not copy to your production code

RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
// END: This part here is for exemplary purposes - Please do not copy to your production code
}
return hardware_interface::return_type::OK;
}

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