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Handle to handler #10

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Handle to handler #10

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0a543fc
ForceTorqueSensorHandle changed to ForceTorqueSensorHWHandler
Mar 5, 2019
3645414
Update .travis.rosinstall
muritane Mar 5, 2019
af6a287
Update .travis.rosinstall
muritane Mar 5, 2019
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6 changes: 5 additions & 1 deletion .travis.rosinstall
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
- git:
uri: 'https://github.com/KITrobotics/force_torque_sensor.git'
local-name: force_torque_sensor
version: kinetic-devel
version: force-torque-sensor-hw-handler
- git:
uri: 'https://github.com/KITrobotics/ipr_extern.git'
local-name: ipr_extern
Expand All @@ -30,3 +30,7 @@
uri: 'https://github.com/ipa320/cob_perception_common.git'
local-name: cob_perception_common
version: indigo_dev
- git:
uri: 'https://github.com/KITrobotics/ros_control.git'
local-name: ros_control
version: combined_robot_sensor_hw
2 changes: 1 addition & 1 deletion common/src/ati_force_torque_hw_rs485.cpp
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Expand Up @@ -858,7 +858,7 @@ bool ATIForceTorqueSensorHWRS485::ReadData()
readStart = ros::Time::now();
#endif
/* *** READ *** */
int n = read( m_rs485, &streamBuf + bufferSize , sizeof(streamBuf) - bufferSize );
int n = ::read( m_rs485, &streamBuf + bufferSize , sizeof(streamBuf) - bufferSize );
/* Error Handling */
if (n < 0)
{
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4 changes: 2 additions & 2 deletions src/force_torque_sensor_node.cpp
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Expand Up @@ -52,7 +52,7 @@
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/
#include <force_torque_sensor/force_torque_sensor_handle.h>
#include <force_torque_sensor/force_torque_sensor_hw_handler.h>
#include <force_torque_sensor/force_torque_sensor_sim.h>
#include <force_torque_sensor/NodeConfigurationParameters.h>

Expand Down Expand Up @@ -80,7 +80,7 @@ class ATIForceTorqueSensorNode
ROS_ERROR("Unknown sensor hardware plugin!");
return;
}
new force_torque_sensor::ForceTorqueSensorHandle(nh, sensor, node_params_.sensor_frame,node_params_.transform_frame);
new force_torque_sensor::ForceTorqueSensorHWHandler(nh, sensor, node_params_.sensor_frame,node_params_.transform_frame);
}
private:
force_torque_sensor::NodeConfigurationParameters node_params_;
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