search

UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
7 stars 4 forks source link

Ensure control modes are not null when checking for updates #111

Closed bsaund closed 3 years ago

bsaund commented 3 years ago

@LemonPi is implementing Cartesian Impedence Control later down our stack, and now is likely the first time this code pathway has been called.

The Cartesian Impedance control switch was throwing a Null Pointer exception. This happened within calling canUpdate

The solution (PR) was to initialize the cvq.