Added missing case for external axes #94
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gavanderhoorn
approved these changes
May 25, 2020
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+595
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| case None: | ||
| { | ||
| if (robot_velocity.values_size() == 0) | ||
| { | ||
| for (int i = 0; i < external_velocity.values_size() && i < ext_condition; ++i) | ||
| { | ||
| speed_reference->mutable_externaljoints()->add_joints(external_velocity.values(i)); | ||
| } | ||
|
|
||
| speed_ok = true; | ||
| } | ||
| } | ||
| break; |
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Would perhaps be nice to add a line or two of comments explaining why this is necessary.
|
Thanks for the review @gavanderhoorn 👍 |
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Fix for missed case in PR #88.
I.e. parsing of velocity commands when configured to only use external axes.