ur_controllers: Update RealTimeBox (#1189)

The realtime_box API has been changed. This PR updates the controllers to that update.
UniversalRobots · Nov 25, 2024 · 4ad0056 · 4ad0056
1 parent ca5fb3e
commit 4ad0056
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
@@ -41,13 +41,10 @@
 #ifndef UR_CONTROLLERS__UR_CONFIGURATION_CONTROLLER_HPP_
 #define UR_CONTROLLERS__UR_CONFIGURATION_CONTROLLER_HPP_
 
-// TODO(fmauch): Currently, the realtime_box_best_effort doesn't include this
-#include <functional>
-#include <realtime_tools/realtime_box_best_effort.h>  // NOLINT
-
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
+#include <realtime_tools/realtime_box.h>
 
 #include "ur_msgs/srv/get_robot_software_version.hpp"
 #include "ur_configuration_controller_parameters.hpp"
@@ -88,7 +85,7 @@ class URConfigurationController : public controller_interface::ControllerInterfa
   CallbackReturn on_init() override;
 
 private:
-  realtime_tools::RealtimeBoxBestEffort<std::shared_ptr<VersionInformation>> robot_software_version_{
+  realtime_tools::RealtimeBox<std::shared_ptr<VersionInformation>> robot_software_version_{
     std::make_shared<VersionInformation>()
   };
 

diff --git a/ur_controllers/src/ur_configuration_controller.cpp b/ur_controllers/src/ur_configuration_controller.cpp
@@ -114,7 +114,7 @@ bool URConfigurationController::getRobotSoftwareVersion(
     ur_msgs::srv::GetRobotSoftwareVersion::Response::SharedPtr resp)
 {
   std::shared_ptr<VersionInformation> temp;
-  return robot_software_version_.tryGet([resp](const std::shared_ptr<VersionInformation> ptr) {
+  return robot_software_version_.try_get([resp](const std::shared_ptr<VersionInformation> ptr) {
     resp->major = ptr->major;
     resp->minor = ptr->minor;
     resp->build = ptr->build;