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urfeexurfeex
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Resolve conflicts
1 parent 461d05c commit 09eb06f

3 files changed

Lines changed: 18 additions & 436 deletions

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‎ur_controllers/src/gpio_controller.cpp‎

Lines changed: 18 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -606,27 +606,19 @@ bool GPIOController::setPayload(const ur_msgs::srv::SetPayload::Request::SharedP
606606

607607
// reset success flag
608608
command_interfaces_[CommandInterfaces::PAYLOAD_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
609-
610-
<<<<<<< HEAD
611-
command_interfaces_[CommandInterfaces::PAYLOAD_MASS].set_value(req->mass);
609+
command_interfaces_[CommandInterfaces::PAYLOAD_MASS].set_value(static_cast<double>(req->mass));
612610
command_interfaces_[CommandInterfaces::PAYLOAD_COG_X].set_value(req->center_of_gravity.x);
613611
command_interfaces_[CommandInterfaces::PAYLOAD_COG_Y].set_value(req->center_of_gravity.y);
614612
command_interfaces_[CommandInterfaces::PAYLOAD_COG_Z].set_value(req->center_of_gravity.z);
615-
=======
616-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_MASS].set_value(static_cast<double>(req->mass));
617-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_X].set_value(req->center_of_gravity.x);
618-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_Y].set_value(req->center_of_gravity.y);
619-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_Z].set_value(req->center_of_gravity.z);
620-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXX].set_value(req->ixx);
621-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IYY].set_value(req->iyy);
622-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IZZ].set_value(req->izz);
623-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXY].set_value(req->ixy);
624-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXZ].set_value(req->ixz);
625-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IYZ].set_value(req->iyz);
613+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXX].set_value(req->ixx);
614+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IYY].set_value(req->iyy);
615+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IZZ].set_value(req->izz);
616+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXY].set_value(req->ixy);
617+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IXZ].set_value(req->ixz);
618+
command_interfaces_[CommandInterfaces::PAYLOAD_INERTIA_IYZ].set_value(req->iyz);
626619
double transition_time_seconds =
627620
static_cast<double>(req->transition_time.sec) + (static_cast<double>(req->transition_time.nanosec) * 1e-9);
628-
std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_TRANSITION_TIME].set_value(transition_time_seconds);
629-
>>>>>>> 3d18755 (Allow setting payload inertia matrix via set_payload service backwards-compatible (#1811))
621+
command_interfaces_[CommandInterfaces::PAYLOAD_TRANSITION_TIME].set_value(transition_time_seconds);
630622

631623
if (!waitForAsyncCommand(
632624
[&]() { return command_interfaces_[CommandInterfaces::PAYLOAD_ASYNC_SUCCESS].get_value(); })) {
@@ -725,34 +717,23 @@ bool GPIOController::waitForPayloadRtdeMatch(double mass, double cx, double cy,
725717
}
726718

727719
for (int retries = 0; retries <= maximum_retries; ++retries) {
728-
<<<<<<< HEAD
729720
const auto m = state_interfaces_[StateInterfaces::PAYLOAD_STATE_MASS].get_value();
730721
const auto sx = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_X].get_value();
731722
const auto sy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_Y].get_value();
732723
const auto sz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_Z].get_value();
733-
if (std::abs(m - mass) <= tol_mass && std::abs(sx - cx) <= tol_cog && std::abs(sy - cy) <= tol_cog &&
734-
std::abs(sz - cz) <= tol_cog) {
735-
return true;
736-
=======
737-
const auto m = state_interfaces_[StateInterfaces::PAYLOAD_STATE_MASS].get_optional();
738-
const auto sx = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_X].get_optional();
739-
const auto sy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_Y].get_optional();
740-
const auto sz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_COG_Z].get_optional();
741-
const auto sixx = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXX].get_optional();
742-
const auto siyy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IYY].get_optional();
743-
const auto sizz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IZZ].get_optional();
744-
const auto sixy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXY].get_optional();
745-
const auto sixz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXZ].get_optional();
746-
const auto siyz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IYZ].get_optional();
724+
const auto sixx = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXX].get_value();
725+
const auto siyy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IYY].get_value();
726+
const auto sizz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IZZ].get_value();
727+
const auto sixy = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXY].get_value();
728+
const auto sixz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IXZ].get_value();
729+
const auto siyz = state_interfaces_[StateInterfaces::PAYLOAD_STATE_INERTIA_IYZ].get_value();
747730
if (m && sx && sy && sz && sixx && siyy && sizz && sixy && sixz && siyz) {
748-
if (std::abs(*m - mass) <= tol_mass && std::abs(*sx - cx) <= tol_cog && std::abs(*sy - cy) <= tol_cog &&
749-
std::abs(*sz - cz) <= tol_cog && std::abs(*sixx - ixx) <= tol_inertia &&
750-
std::abs(*siyy - iyy) <= tol_inertia && std::abs(*sizz - izz) <= tol_inertia &&
751-
std::abs(*sixy - ixy) <= tol_inertia && std::abs(*sixz - ixz) <= tol_inertia &&
752-
std::abs(*siyz - iyz) <= tol_inertia) {
731+
if (std::abs(m - mass) <= tol_mass && std::abs(sx - cx) <= tol_cog && std::abs(sy - cy) <= tol_cog &&
732+
std::abs(sz - cz) <= tol_cog && std::abs(sixx - ixx) <= tol_inertia && std::abs(siyy - iyy) <= tol_inertia &&
733+
std::abs(sizz - izz) <= tol_inertia && std::abs(sixy - ixy) <= tol_inertia &&
734+
std::abs(sixz - ixz) <= tol_inertia && std::abs(siyz - iyz) <= tol_inertia) {
753735
return true;
754736
}
755-
>>>>>>> 3d18755 (Allow setting payload inertia matrix via set_payload service backwards-compatible (#1811))
756737
}
757738
std::this_thread::sleep_for(std::chrono::milliseconds(50));
758739
}

‎ur_robot_driver/src/hardware_interface.cpp‎

Lines changed: 0 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -350,8 +350,6 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
350350
hardware_interface::StateInterface(tf_prefix + "payload", "cog.y", &rtde_payload_cog_[1]));
351351
state_interfaces.emplace_back(
352352
hardware_interface::StateInterface(tf_prefix + "payload", "cog.z", &rtde_payload_cog_[2]));
353-
<<<<<<< HEAD
354-
=======
355353
state_interfaces.emplace_back(
356354
hardware_interface::StateInterface(tf_prefix + "payload", "inertia.ixx", &rtde_payload_inertia_[0]));
357355
state_interfaces.emplace_back(
@@ -364,12 +362,6 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
364362
hardware_interface::StateInterface(tf_prefix + "payload", "inertia.ixz", &rtde_payload_inertia_[4]));
365363
state_interfaces.emplace_back(
366364
hardware_interface::StateInterface(tf_prefix + "payload", "inertia.iyz", &rtde_payload_inertia_[5]));
367-
// Motion primitives stuff
368-
state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
369-
"execution_status", &hw_moprim_states_[0]));
370-
state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
371-
"ready_for_new_primitive", &hw_moprim_states_[1]));
372-
>>>>>>> 3d18755 (Allow setting payload inertia matrix via set_payload service backwards-compatible (#1811))
373365

374366
return state_interfaces;
375367
}

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