[sas robot driver franka] added handeling of shutdown

2024-08-02 18:26:24 +09:00
parent c6c67078dd
commit 81a6e077d6
8 changed files with 4 additions and 1311 deletions
--- a/src/joint/sas_robot_driver_franka.cpp
+++ b/src/joint/sas_robot_driver_franka.cpp
@@ -146,6 +146,10 @@ namespace sas
            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message());
            break_loops_->store(true);
        }
+        if(!ros::ok()) {
+            ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::ROS shutdown requested.");
+            break_loops_->store(true);
+        }
        _update_stiffness_contact_and_pose();
        return robot_driver_interface_sptr_->get_joint_positions();
    }