revert mimic joints

StoglRobotics-forks · Jun 3, 2024 · a18bbc2 · a18bbc2
1 parent 52e5571
commit a18bbc2
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -63,10 +63,9 @@ struct MimicJoint
 enum class MimicAttribute
 {
   NOT_SET,
-  MIMIC,
-  NO_MIMIC
+  TRUE,
+  FALSE
 };
-
 /**
  * This structure stores information about components defined for a specific hardware
  * in robot's URDF.

diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
@@ -330,8 +330,8 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
     try
     {
       component.is_mimic = parse_bool(get_attribute_value(component_it, kMimicAttribute, kJointTag))
-                             ? MimicAttribute::MIMIC
-                             : MimicAttribute::NO_MIMIC;
+                             ? MimicAttribute::TRUE
+                             : MimicAttribute::FALSE;
     }
     catch (const std::runtime_error & e)
     {
@@ -692,12 +692,12 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
         {
           throw std::runtime_error("Joint " + joint.name + " not found in URDF");
         }
-        if (!urdf_joint->mimic && joint.is_mimic == MimicAttribute::MIMIC)
+        if (!urdf_joint->mimic && joint.is_mimic == MimicAttribute::TRUE)
         {
           throw std::runtime_error(
             "Joint '" + joint.name + "' has no mimic information in the URDF.");
         }
-        if (urdf_joint->mimic && joint.is_mimic != MimicAttribute::NO_MIMIC)
+        if (urdf_joint->mimic && joint.is_mimic != MimicAttribute::FALSE)
         {
           if (joint.command_interfaces.size() > 0)
           {