Changed Watchdog API

humanoid_modules/src/gripper_module.cpp

@@ -114,9 +114,9 @@ void CGripperModule::reconfigure_callback(gripper_module::GripperModuleConfig &c
   this->assign_service.set_max_num_retries(config.service_max_retries);
   /* motion action parameters */
   this->gripper_action.set_max_num_retries(config.action_max_retries);
-  if (this->config.enable_timeout)
-    this->gripper_action.enable_timeout(config.feedback_watchdog_time_s);
-  else this->gripper_action.disable_timeout();
+  if (this->config.enable_watchdog)
+    this->gripper_action.enable_watchdog(config.feedback_watchdog_time_s);
+  else this->gripper_action.disable_watchdog();
   if(this->config.enable_timeout)
     this->gripper_action.enable_timeout(config.timeout_s);
   else

humanoid_modules/src/joints_cart_module.cpp

@@ -142,7 +142,7 @@ void CJointsCartModule::reconfigure_callback(joints_cart_module::JointsCartModul
   this->get_ik_service.set_max_num_retries(config.get_ik_max_retries);
   /* motion action parameters */
   this->joints_action.set_max_num_retries(config.action_max_retries);
-  if (config.enable_watchdog)
+  if (this->config.enable_watchdog)
     this->joints_action.enable_watchdog(config.feedback_watchdog_time_s);
   else this->joints_action.disable_watchdog();
   if(this->config.enable_timeout)