void UrHardwareInterface::doSwitch(
const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list) {
for (std::list<hardware_interface::ControllerInfo>::const_iterator controller_it =
stop_list.begin(); controller_it != stop_list.end();
++controller_it) {
if (controller_it->type
== "hardware_interface::VelocityJointInterface") {
velocity_interface_running_ = false;
ROS_DEBUG("Stopping velocity interface");
}
if (controller_it->type
== "hardware_interface::PositionJointInterface") {
position_interface_running_ = false;
std::vector<double> tmp;
robot_->closeServo(tmp);
ROS_DEBUG("Stopping position interface");
}
}
for (std::list<hardware_interface::ControllerInfo>::const_iterator controller_it =
start_list.begin(); controller_it != start_list.end();
++controller_it) {
if (controller_it->type
== "hardware_interface::VelocityJointInterface") {
velocity_interface_running_ = true;
ROS_DEBUG("Starting velocity interface");
}
if (controller_it->type
== "hardware_interface::PositionJointInterface") {
position_interface_running_ = true;
robot_->uploadProg();
ROS_DEBUG("Starting position interface");
}
}