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Paul Rouanet
ros2_control_bolt
Commits
214fa7e0
Commit
214fa7e0
authored
Jul 23, 2021
by
Paul Rouanet
Browse files
Delete useless commented code
parent
1102eb09
Changes
1
Hide whitespace changes
Inline
Side-by-side
ros2_control_bolt/src/system_bolt.cpp
View file @
214fa7e0
...
...
@@ -414,12 +414,7 @@ SystemBoltHardware::export_command_interfaces()
return
command_interfaces
;
}
//Calibration function
return_type
SystemBoltHardware
::
calibration
(){
double
Kp
=
stod
(
info_
.
hardware_parameters
.
at
(
"calib_kp"
));
...
...
@@ -437,8 +432,6 @@ return_type SystemBoltHardware::calibration(){
}
// START
return_type
SystemBoltHardware
::
start
()
{
robot_
->
Start
();
...
...
@@ -460,34 +453,6 @@ return_type SystemBoltHardware::start()
status_
=
hardware_interface
::
status
::
STARTED
;
/* RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"Starting ...please wait...");
//Starting countdown
for (auto i = 0; i <= hw_start_sec_; ++i) {
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"%.1f seconds left...", hw_start_sec_ - i);
}
// set some default values
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
if (std::isnan(hw_states_[joint.name].position)) {
hw_states_[joint.name] = {0.0, 0.0, 0.0, 0.0, 0.0};
hw_commands_[joint.name] = {0.0, 0.0, 0.0, 0.0, 0.0};
}
}
status_ = hardware_interface::status::STARTED;
RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"System Sucessfully started!");*/
return
return_type
::
OK
;
}
...
...
@@ -503,11 +468,6 @@ return_type SystemBoltHardware::stop()
hardware_interface
::
return_type
SystemBoltHardware
::
read
()
{
// RCLCPP_INFO(
//rclcpp::get_logger("SystemBoltHardware"),
//"Reading...");
// Data acquisition (with ODRI)
robot_
->
ParseSensorData
();
...
...
@@ -554,15 +514,9 @@ hardware_interface::return_type SystemBoltHardware::read()
imu_states_
[
"IMU"
].
quater
[
2
]
=
imu_quater
[
2
];
imu_states_
[
"IMU"
].
quater
[
3
]
=
imu_quater
[
3
];
// RCLCPP_INFO(
//rclcpp::get_logger("SystemBoltHardware"),
//"Joints sucessfully read!");
return
return_type
::
OK
;
}
////// WRITE
hardware_interface
::
return_type
SystemBoltHardware
::
write
()
...
...
@@ -637,14 +591,6 @@ SystemBoltHardware::write()
}
// namespace ros2_control_bolt
#include
"pluginlib/class_list_macros.hpp"
...
...
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