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diff --git a/include/gripper_action_controller/gripper_action_controller_impl.h b/include/gripper_action_controller/gripper_action_controller_impl.h
index 29007412..0874819d 100644
--- a/include/gripper_action_controller/gripper_action_controller_impl.h
+++ b/include/gripper_action_controller/gripper_action_controller_impl.h
@@ -41,9 +41,9 @@ std::string getLeafNamespace(const ros::NodeHandle& nh)
return complete_ns.substr(id + 1);
}
-boost::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::string& param_name)
+std::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::string& param_name)
{
- boost::shared_ptr<urdf::Model> urdf(new urdf::Model);
+ std::shared_ptr<urdf::Model> urdf(new urdf::Model);
std::string urdf_str;
// Check for robot_description in proper namespace
@@ -53,19 +53,19 @@ boost::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::str
{
ROS_ERROR_STREAM("Failed to parse URDF contained in '" << param_name << "' parameter (namespace: " <<
nh.getNamespace() << ").");
- return boost::shared_ptr<urdf::Model>();
+ return std::shared_ptr<urdf::Model>();
}
}
// Check for robot_description in root
else if (!urdf->initParam("robot_description"))
{
ROS_ERROR_STREAM("Failed to parse URDF contained in '" << param_name << "' parameter");
- return boost::shared_ptr<urdf::Model>();
+ return std::shared_ptr<urdf::Model>();
}
return urdf;
}
-typedef boost::shared_ptr<const urdf::Joint> UrdfJointConstPtr;
+typedef std::shared_ptr<const urdf::Joint> UrdfJointConstPtr;
std::vector<UrdfJointConstPtr> getUrdfJoints(const urdf::Model& urdf, const std::vector<std::string>& joint_names)
{
std::vector<UrdfJointConstPtr> out;
@@ -157,7 +157,7 @@ bool GripperActionController<HardwareInterface>::init(HardwareInterface* hw,
}
// URDF joints
- boost::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, "robot_description");
+ std::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, "robot_description");
if (!urdf)
{
return false;
diff --git a/include/gripper_action_controller/hardware_interface_adapter.h b/include/gripper_action_controller/hardware_interface_adapter.h
index cd896e19..22f72084 100644
--- a/include/gripper_action_controller/hardware_interface_adapter.h
+++ b/include/gripper_action_controller/hardware_interface_adapter.h
@@ -182,7 +182,7 @@ public:
}
private:
- typedef boost::shared_ptr<control_toolbox::Pid> PidPtr;
+ typedef std::shared_ptr<control_toolbox::Pid> PidPtr;
PidPtr pid_;
hardware_interface::JointHandle* joint_handle_ptr_;
};
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