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Wait for ready state before starting communication #37

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Merged
sivral merged 3 commits into from
Nov 24, 2025
Merged

Wait for ready state before starting communication #37

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dbde7b7
Wait for ready state before starting communication
sivral Nov 23, 2025
55bd8c8
Format
sivral Nov 24, 2025
b4bc5f5
Update changelog
sivral Nov 24, 2025
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1 change: 1 addition & 0 deletions robotiq_hande_driver/CHANGELOG.md
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Expand Up @@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Fixed

* [PR-37](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/37) - Fixed missing readiness check during activation.
* [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.
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6 changes: 6 additions & 0 deletions robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp
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Expand Up @@ -186,6 +186,12 @@ HWI::CallbackReturn RobotiqHandeHardwareInterface::on_activate(
th_comm_enabled_.store(true, std::memory_order_relaxed);
th_comm_.emplace(&RobotiqHandeHardwareInterface::gripper_communication, this);
}

RCLCPP_INFO(
get_logger(), "%sWaiting for Hand-E complete activation%s", color::BCYAN, color::RESET);
while(!gripper_driver_.get_status().is_ready) {
std::this_thread::sleep_for(th_sleep_rate_);
}
} catch(const std::exception& e) {
RCLCPP_ERROR(
get_logger(),
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