CHG: removed prev_force check

Author: macmacal

robotiq_hande_driver/CHANGELOG.md

@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
+* [PR-34](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/34) - Fixed check for dropping request to set the same gripper position.
 * [PR-34](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/34) - Fixed non-deterministic control node's frequency hicups by removing call to the modbus write in time-critical code block.
 * [PR-33](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/33) - Fixed missing ros2_control_test_assets dependency in CMakeLists.txt that causes build failures after ROS2 Humble package updates.
 

robotiq_hande_driver/hardware/src/hande_gripper.cpp

@@ -82,12 +82,9 @@ double HandeGripper::get_position() const {
 
 void HandeGripper::set_position(double position, double force) {
     static double prev_position = std::numeric_limits<double>::quiet_NaN();
-    static double prev_force = std::numeric_limits<double>::quiet_NaN();
 
     if(!std::isnan(prev_position) && std::fabs(position - prev_position) < EPSILON) return;
-    if(!std::isnan(prev_force) && std::fabs(force - prev_force) < EPSILON) return;
     prev_position = position;
-    prev_force = force;
 
     uint8_t scaled_position = (gripper_position_max_ - position) / gripper_postion_step_;
     uint8_t scaled_force = static_cast<uint8_t>(force * MAX_FORCE);