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UniversalRobots · Nov 9, 2020 · f9c9432 · f9c9432
1 parent ad58940
commit f9c9432
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Showing 2 changed files with 15 additions and 15 deletions.
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
@@ -39,6 +39,7 @@
 #include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "hardware_interface/visibility_control.h"
 
+// ROS
 #include "rclcpp/macros.hpp"
 
 using hardware_interface::HardwareInfo;
@@ -75,7 +76,6 @@ class URHardwareInterface final : public hardware_interface::components::SystemI
   HardwareInfo info_;
   status status_;
   std::vector<double> joint_angle_commands_, current_joint_angles_;
-
 };
 
 }  // namespace ur_robot_driver
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -28,23 +28,23 @@
 
 namespace ur_robot_driver
 {
-  hardware_interface::return_type URHardwareInterface::configure(const HardwareInfo& system_info)
-  {
-    info_ = system_info;
-    status_ = status::CONFIGURED;
+hardware_interface::return_type URHardwareInterface::configure(const HardwareInfo& system_info)
+{
+  info_ = system_info;
+  status_ = status::CONFIGURED;
 
-    current_joint_angles_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
-    joint_angle_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
+  current_joint_angles_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
+  joint_angle_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
 
-    for (const hardware_interface::ComponentInfo & joint : info_.joints)
+  for (const hardware_interface::ComponentInfo& joint : info_.joints)
+  {
+    if (joint.type.compare("ros2_control_components/PositionJoint") != 0)
     {
-      if (joint.type.compare("ros2_control_components/PositionJoint") != 0)
-      {
-        status_ = status::UNKNOWN;
-        return return_type::ERROR;
-      }
+      status_ = status::UNKNOWN;
+      return return_type::ERROR;
     }
-
-    return return_type::OK;
   }
+
+  return return_type::OK;
+}
 }  // namespace ur_robot_driver