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msgs: clarify use of fields in SetIO svc #415

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merged 1 commit into from Apr 2, 2019
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gavanderhoorn
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As per subject.

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Triggered by UR10 tool flange 24V power control on ROS Answers.

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@miguelprada miguelprada left a comment

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Nice, thanks @gavanderhoorn!

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Will merge when the tests pass.

It makes me think whether ur_modern_driver should use std::lround instead of static_cast<uint8_t> to transform tool voltages just to be safer.

@miguelprada miguelprada merged commit e1e8f02 into kinetic-devel Apr 2, 2019
@gavanderhoorn gavanderhoorn deleted the setio_svc_doc branch April 2, 2019 10:12
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gavanderhoorn commented Apr 2, 2019

It makes me think whether ur_modern_driver should use std::lround instead of static_cast<uint8_t> to transform tool voltages just to be safer.

It should at the very least probably check whether state in [0, 12, 24].

But yes, that would make sense.

Can you log an issue over at ros-industrial/ur_modern_driver?

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