GitHub PullRequestReviewCommentEvent at 2014-08-06 09:04:24
Repository: baxter_cpp
Actor: davetcoleman
Payload: {"action":"created","comment":{"url":"https://api.github.com/repos/davetcoleman/baxter_cpp/pulls/comments/15863072","id":15863072,"diff_hunk":"@@ -306,12 +306,19 @@ class ElectricParallelGripper\n     {\n       ROS_INFO_STREAM_NAMED(arm_name_,\"Calibrating gripper\");\n \n-      command_msg_.command = baxter_core_msgs::EndEffectorCommand::CMD_CALIBRATE;\n-      command_topic_.publish(command_msg_);\n+      baxter_core_msgs::EndEffectorCommand command;\n+      command.command = baxter_core_msgs::EndEffectorCommand::CMD_CALIBRATE;\n+      command.id = 65538;\n \n-      ros::spinOnce();\n-      ros::Duration(0.05).sleep();\n-    }\n+\t    // Send command several times to be safe\n+\t    for (std::size_t i = 0; i < GRIPPER_MSG_RESEND; ++i)\n+\t    {\n+\t      command_topic_.publish(command);\n+\n+\t      ros::Duration(MSG_PULSE_SEC).sleep();\n+\t      ros::spinOnce();\n+\t  \t}","path":"baxter_gripper_server/include/baxter_gripper_server/electric_parallel_gripper.h","position":38,"original_position":38,"commit_id":"44abe9a3460668e0f43eccc68d6af94295acf5e8","original_commit_id":"44abe9a3460668e0f43eccc68d6af94295acf5e8","user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars.githubusercontent.com/u/561060?v=2","gravatar_id":"9ca6e6fe619a51425fcb84fbde6ace8a","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"body":"Not the best formatting :-p","created_at":"2014-08-06T09:04:24Z","updated_at":"2014-08-06T09:04:24Z","html_url":"https://github.com/davetcoleman/baxter_cpp/pull/19#discussion_r15863072","pull_request_url":"https://api.github.com/repos/davetcoleman/baxter_cpp/pulls/19","_links":{"self":{"href":"https://api.github.com/repos/davetcoleman/baxter_cpp/pulls/comments/15863072"},"html":{"href":"https://github.com/davetcoleman/baxter_cpp/pull/19#discussion_r15863072"},"pull_request":{"href":"https://api.github.com/repos/davetcoleman/baxter_cpp/pulls/19"}}},"pull_request":{"url":"https://api.github.com/repos/davetcoleman/baxter_cpp/pulls/19","id":19346892,"html_url":"https://github.com/davetcoleman/baxter_cpp/pull/19","diff_url":"https://github.com/davetcoleman/baxter_cpp/pull/19.diff","patch_url":"https://github.com/davetcoleman/baxter_cpp/pull/19.patch","issue_url":"https://api.github.com/repos/davetcoleman/baxter_cpp/issues/19","number":19,"state":"open","title":"Updates to electric parallel gripper controller","user":{"login":"brawner","id":1044986,"avatar_url":"https://avatars.githubusercontent.com/u/1044986?v=2","gravatar_id":"68ef29dce5cc8f01a4d01c17a97226bd","url":"https://api.github.com/users/brawner","html_url":"https://github.com/brawner","followers_url":"https://api.github.com/users/brawner/followers","following_url":"https://api.github.com/users/brawner/following{/other_user}","gists_url":"https://api.github.com/users/brawner/gists{/gist_id}","starred_url":"https://api.github.com/users/brawner/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/brawner/subscriptions","organizations_url":"https://api.github.com/users/brawner/orgs","repos_url":"https://api.github.com/users/brawner/repos","events_url":"https://api.github.com/users/brawner/events{/privacy}","received_events_url":"https://api.github.com/users/brawner/received_events","type":"User","site_admin":false},"body":"This controller now works with version 1.0 of the sdk. I've tested it for some time and haven't had any troubles with it. Instead of open/close it has a set to position method to process position commands. (the new way of doing things). It also fixes calibrate.\r\n\r\nOne note, I had to change the command_msg id to conform to some new requirement or spec. I basically just echoed messages published by the sdk message and copied those ids. Whatever it was, it was not working with the previous id value.\r\n\r\nLet me know if there are any updates you'd like me to make or 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