added a disconnect for now

lbr-stack · Oct 3, 2023 · 6895f6a · 6895f6a
1 parent 8776e15
commit 6895f6a
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/lbr_ros2_control/src/lbr_system_interface.cpp b/lbr_ros2_control/src/lbr_system_interface.cpp
@@ -175,6 +175,8 @@ hardware_interface::return_type LBRSystemInterface::read(const rclcpp::Time & /*
                               static_cast<KUKA::FRI::ESessionState>(lbr_state_.session_state))) {
     RCLCPP_ERROR(app_node_ptr_->get_logger(),
                  "LBR left COMMANDING_ACTIVE. Please re-run lbr_bringup.");
+    app_ptr_->stop_run();
+    app_ptr_->close_udp_socket();
     return hardware_interface::return_type::ERROR;
   }