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Stop control, when UrDriver object is destroyed #338

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Merged
merged 1 commit into from
Jun 2, 2025
Merged

Stop control, when UrDriver object is destroyed #338

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2 changes: 1 addition & 1 deletion include/ur_client_library/ur/ur_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -435,7 +435,7 @@ class UrDriver
init(config);
}

virtual ~UrDriver() = default;
~UrDriver();

/*!
* \brief Access function to receive the latest data package sent from the robot through RTDE
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6 changes: 6 additions & 0 deletions src/ur/ur_driver.cpp
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Expand Up @@ -52,6 +52,12 @@ static const std::string SCRIPT_COMMAND_PORT_REPLACE("{{SCRIPT_COMMAND_SERVER_PO
static const std::string FORCE_MODE_SET_DAMPING_REPLACE("{{FORCE_MODE_SET_DAMPING_REPLACE}}");
static const std::string FORCE_MODE_SET_GAIN_SCALING_REPLACE("{{FORCE_MODE_SET_GAIN_SCALING_REPLACE}}");

UrDriver::~UrDriver()
{
// This will return false if the external control script is not running.
stopControl();
}

void UrDriver::init(const UrDriverConfiguration& config)
{
robot_ip_ = config.robot_ip;
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