Created
April 15, 2017 14:58
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for (size_t i = 0; i < vel_joint_names.size(); ++i) | |
{ | |
hardware_interface::JointStateHandle joint_state_handle(vel_joint_names[i], | |
&joints_[i].act_pos, &joints_[i].act_vel, &dummy_effort); | |
joint_state_interface_.registerHandle(joint_state_handle); | |
hardware_interface::JointHandle joint_handle( | |
joint_state_handle, &joints_[i].ref_vel); | |
velocity_joint_interface_.registerHandle(joint_handle); | |
} | |
for (size_t i = 0; i < pos_joint_names.size(); ++i) | |
{ | |
hardware_interface::JointStateHandle joint_state_handle(pos_joint_names[i], | |
&joints_[vel_joint_names.size() + i].act_pos, &joints_[vel_joint_names.size() + i].act_vel, &dummy_effort); | |
joint_state_interface_.registerHandle(joint_state_handle); | |
hardware_interface::JointHandle joint_handle( | |
joint_state_handle, &joints_[vel_joint_names.size() + i].ref_pos); | |
position_joint_interface_.registerHandle(joint_handle); | |
} |
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