From 4cee69d7a1fdad6be38ca88b5fbe10fcdd8f2c9b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 28 Aug 2017 12:34:01 +0200
Subject: [PATCH] Added a return true in all the set parameters callbacks to
avoid calling errors.
---
darwin_controller/include/darwin_controller_impl.h | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 76eaf96..62d72b0 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -780,6 +780,8 @@ namespace darwin_controller
this->walk_access.exit();
res.ret=true;
+
+ return true;
}
/************************************ set_walk_params *******************************************/
@@ -834,7 +836,7 @@ namespace darwin_controller
}
/************************************ get_walk_params *******************************************/
-/************************************ set_walk_params *******************************************/
+/************************************ set_stairs_params *******************************************/
template <class HardwareInterface>
bool DarwinController<HardwareInterface>::set_stairs_paramsCallback(humanoid_common_msgs::set_stairs_params::Request &req, humanoid_common_msgs::set_stairs_params::Response &res)
{
@@ -866,10 +868,12 @@ namespace darwin_controller
ram_write_byte(DARWIN_STAIRS_X_SHIFT_BODY,(unsigned char)(req.params.X_SHIFT_BODY*1000.0));
res.ret=true;
+
+ return true;
}
-/************************************ set_walk_params *******************************************/
+/************************************ set_stairs_params *******************************************/
-/************************************ get_walk_params *******************************************/
+/************************************ get_stairs_params *******************************************/
template <class HardwareInterface>
bool DarwinController<HardwareInterface>::get_stairs_paramsCallback(humanoid_common_msgs::get_stairs_params::Request &req, humanoid_common_msgs::get_stairs_params::Response &res)
{
--
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