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This PR adds support for the new callback feature #13

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Merged
mmmarinho merged 2 commits into from
Jul 8, 2026
Merged

This PR adds support for the new callback feature #13

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e91db99
Added the callback in the control loop
juanjqo Jul 8, 2026
c3f6aa3
Improved the checking order for the control loop callback
juanjqo Jul 8, 2026
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11 changes: 11 additions & 0 deletions src/sas_robot_driver_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,17 @@ int RobotDriverROS::control_loop()
}


// Execute the control loop callback if one has been set
if (robot_driver_->control_loop_callback_is_set()) {
RCLCPP_INFO_STREAM_ONCE(node_->get_logger(), "::Control loop callback is set and will be executed!");
try {
robot_driver_->execute_control_loop_callback();
} catch (const std::exception& e) {
throw std::runtime_error("Control loop callback execution failed: " + std::string(e.what()));
}
}


auto joint_positions{robot_driver_->get_joint_positions()};
VectorXd joint_velocities;
try{joint_velocities = robot_driver_->get_joint_velocities();} catch(...){}
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