From def2e8965b98ebde952c3a198174a565f5e06dcb Mon Sep 17 00:00:00 2001 From: Aron Svastits Date: Tue, 17 Oct 2023 15:17:53 +0200 Subject: [PATCH] start from home in mock --- kuka_rox_hardware_interface/src/rox_hardware_interface.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/kuka_rox_hardware_interface/src/rox_hardware_interface.cpp b/kuka_rox_hardware_interface/src/rox_hardware_interface.cpp index ac0487cf..bbcb7ccf 100644 --- a/kuka_rox_hardware_interface/src/rox_hardware_interface.cpp +++ b/kuka_rox_hardware_interface/src/rox_hardware_interface.cpp @@ -69,6 +69,11 @@ CallbackReturn KukaRoXHardwareInterface::on_init(const hardware_interface::Hardw RCLCPP_ERROR(rclcpp::get_logger("KukaRoXHardwareInterface"), "Could not setup udp replier"); return CallbackReturn::FAILURE; } +#else +// Start from home position in mock mode + hw_position_commands_[1] = -90 * (M_PI / 180); + hw_position_commands_[2] = 90 * (M_PI / 180); + hw_position_commands_[4] = 90 * (M_PI / 180); #endif RCLCPP_INFO(rclcpp::get_logger("KukaRoXHardwareInterface"), "Init successful");