From 9087ddba7beda60b10a112cc90e7ef2426f535c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ferran=20Mart=C3=ADnez?= <ferran.mafe@gmail.com>
Date: Mon, 19 Feb 2018 20:11:40 +0100
Subject: [PATCH] Changed Watchdog API
---
humanoid_modules/src/gripper_module.cpp | 6 +++---
humanoid_modules/src/joints_cart_module.cpp | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/humanoid_modules/src/gripper_module.cpp b/humanoid_modules/src/gripper_module.cpp
index ef74911..31a9b89 100644
--- a/humanoid_modules/src/gripper_module.cpp
+++ b/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
diff --git a/humanoid_modules/src/joints_cart_module.cpp b/humanoid_modules/src/joints_cart_module.cpp
index b055ea5..9537178 100644
--- a/humanoid_modules/src/joints_cart_module.cpp
+++ b/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)
--
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