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Added registerTrajDoneCallback() for https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1341 #358

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Added registerTrajDoneCallback() for https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1341 #358

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2 changes: 2 additions & 0 deletions include/ur_client_library/ur/instruction_executor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,8 @@ class InstructionExecutor
return trajectory_running_;
}

void registerTrajDoneCallback();

private:
void trajDoneCallback(const urcl::control::TrajectoryResult& result);
void trajDisconnectCallback(const int filedescriptor);
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5 changes: 5 additions & 0 deletions src/ur/instruction_executor.cpp
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Expand Up @@ -41,6 +41,11 @@
trajectory_result_ = result;
trajectory_running_ = false;
}
void urcl::InstructionExecutor::registerTrajDoneCallback()

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{
driver_->registerTrajectoryDoneCallback(
std::bind(&InstructionExecutor::trajDoneCallback, this, std::placeholders::_1));

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src/ur/instruction_executor.cpp#L46-L47 

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}
void urcl::InstructionExecutor::trajDisconnectCallback(const int filedescriptor)
{
URCL_LOG_INFO("Trajectory disconnect");
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