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UniversalRobots · Jul 11, 2024 · a092164 · a092164
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commit a092164
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Showing 2 changed files with 6 additions and 3 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
@@ -216,7 +216,8 @@ class HardwareInterface : public hardware_interface::RobotHW
   void commandCallback(const std_msgs::StringConstPtr& msg);
   bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
   bool activateSplineInterpolation(std_srvs::SetBoolRequest& req, std_srvs::SetBoolResponse& res);
-  bool getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req, ur_msgs::GetRobotSoftwareVersionResponse& res);
+  bool getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req,
+                               ur_msgs::GetRobotSoftwareVersionResponse& res);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -461,7 +461,8 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
       "activate_spline_interpolation", &HardwareInterface::activateSplineInterpolation, this);
 
   // Calling this service will return the software version of the robot.
-  get_robot_software_version_srv = robot_hw_nh.advertiseService("get_robot_software_version", &HardwareInterface::getRobotSoftwareVersion, this);
+  get_robot_software_version_srv =
+      robot_hw_nh.advertiseService("get_robot_software_version", &HardwareInterface::getRobotSoftwareVersion, this);
 
   ur_driver_->startRTDECommunication();
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
@@ -1178,7 +1179,8 @@ bool HardwareInterface::setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::Set
   return true;
 }
 
-bool HardwareInterface::getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req, ur_msgs::GetRobotSoftwareVersionResponse& res)
+bool HardwareInterface::getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req,
+                                                ur_msgs::GetRobotSoftwareVersionResponse& res)
 {
   urcl::VersionInformation version_info = this->ur_driver_->getVersion();
   res.major = version_info.major;