From fef25312dd805ccaa9afbc8b68aae4f554f90032 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 21 Jan 2022 08:12:28 +0100
Subject: [PATCH] Changed the behavior of the status flags.
---
src/looming_modbus_driver_node.cpp | 10 +++-------
1 file changed, 3 insertions(+), 7 deletions(-)
diff --git a/src/looming_modbus_driver_node.cpp b/src/looming_modbus_driver_node.cpp
index b475cf1..a737f82 100644
--- a/src/looming_modbus_driver_node.cpp
+++ b/src/looming_modbus_driver_node.cpp
@@ -32,7 +32,6 @@ void LoomingModbusDriverNode::mainNodeThread(void)
this->driver_.lock();
ROS_DEBUG("LoomingModbusDriverNode::mainNodeThread");
- this->driver_.set_current_position(1.5,2.5,3.5);
// [fill msg Header if necessary]
// [fill msg structures]
@@ -54,7 +53,7 @@ void LoomingModbusDriverNode::mainNodeThread(void)
this->driver_.set_success(false);
this->driver_.set_canceled(false);
this->driver_.set_navigating(false);
- this->driver_.set_ready(false);
+ this->driver_.set_ready(true);
}
else if(move_base_state==actionlib::SimpleClientGoalState::SUCCEEDED)
{
@@ -62,7 +61,7 @@ void LoomingModbusDriverNode::mainNodeThread(void)
this->driver_.set_success(true);
this->driver_.set_canceled(false);
this->driver_.set_navigating(false);
- this->driver_.set_ready(false);
+ this->driver_.set_ready(true);
}
else if(move_base_state==actionlib::SimpleClientGoalState::PREEMPTED)
{
@@ -70,7 +69,7 @@ void LoomingModbusDriverNode::mainNodeThread(void)
this->driver_.set_success(false);
this->driver_.set_canceled(true);
this->driver_.set_navigating(false);
- this->driver_.set_ready(false);
+ this->driver_.set_ready(true);
}
else if(move_base_state==actionlib::SimpleClientGoalState::ACTIVE)
{
@@ -82,9 +81,6 @@ void LoomingModbusDriverNode::mainNodeThread(void)
}
else
{
- this->driver_.set_aborted(false);
- this->driver_.set_success(false);
- this->driver_.set_canceled(false);
this->driver_.set_navigating(false);
this->driver_.set_ready(true);
}
--
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