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Final fix for plugin reset #12

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merged 2 commits into from
Jan 7, 2019
Merged

Final fix for plugin reset #12

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20a5536
Fix plugin reset
nzlz Jan 7, 2019
0d85f79
Remove unused variable
nzlz Jan 7, 2019
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13 changes: 10 additions & 3 deletions mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -401,14 +401,21 @@ void MARAGazeboPluginRos::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr

void MARAGazeboPluginRos::Reset()
{

impl_->trajectories_position_axis1.clear();
impl_->trajectories_velocities_axis1.clear();
impl_->trajectories_position_axis2.clear();
impl_->trajectories_velocities_axis2.clear();
impl_->executing_axis1 = false;
impl_->executing_axis2 = false;
impl_->index_trajectory_axis1 = 0;
impl_->index_trajectory_axis2 = 0;
impl_->goal_position_axis1_rad = 0;
impl_->goal_position_axis2_rad = 0;
}

void MARAGazeboPluginRosPrivate::OnUpdate(const gazebo::common::UpdateInfo & _info)
{

double seconds_since_last_update = (_info.simTime - last_update_time_).Double();

if(!executing_axis1 && trajectories_position_axis1.size()>0){
index_trajectory_axis1 = 0;
executing_axis1 = true;
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