Niko/UR_Robotiq
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debugging

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This commit is contained in:
Niko Feith 2024-04-11 18:44:38 +02:00
parent 7858d6ef12
commit 1be83c8f93
1 changed files with 2 additions and 2 deletions
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src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp
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@ -76,7 +76,7 @@ bool Robotiq2fSocketAdapter::sendCommand(const std::string& cmd) {
return true; return true;
} }
std::string Robotiq2fSocketAdapter::receiveResponse(int timeout_ms=2000) { std::string Robotiq2fSocketAdapter::receiveResponse(int timeout_ms) {
std::lock_guard<std::mutex> lock(socketMutex_); std::lock_guard<std::mutex> lock(socketMutex_);
if (*sockfd_ < 0) { if (*sockfd_ < 0) {
std::cerr << "Attempted to receive response on a disconnected socket.\n"; std::cerr << "Attempted to receive response on a disconnected socket.\n";
@ -342,7 +342,7 @@ std::tuple<int, ObjectStatus> Robotiq2fSocketAdapter::move_and_wait_for_pos(int
} }
void Robotiq2fSocketAdapter::auto_calibrate(bool log=true) { void Robotiq2fSocketAdapter::auto_calibrate(bool log) {
// Open in case we are holding an object // Open in case we are holding an object
std::tuple<int, ObjectStatus> result = move_and_wait_for_pos(open_position_, 64, 1); std::tuple<int, ObjectStatus> result = move_and_wait_for_pos(open_position_, 64, 1);
if (std::get<1>(result) != ObjectStatus::AT_DEST) { if (std::get<1>(result) != ObjectStatus::AT_DEST) {