Bugfix/Remove unnecessary sleep calls during activation and deactivation of flexiv_hardware (#49)

munseng-flexiv · web-flow · commit a5efbb04c605 · 2025-09-12T13:06:18.000+08:00
diff --git a/flexiv_hardware/src/flexiv_hardware_interface.cpp b/flexiv_hardware/src/flexiv_hardware_interface.cpp
@@ -199,8 +199,6 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate(
 {
     RCLCPP_INFO(getLogger(), "Starting... please wait...");
 
-    std::this_thread::sleep_for(std::chrono::seconds(1));
-
     try {
         // Clear fault on robot server if any
         if (robot_->fault()) {
@@ -247,8 +245,6 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_deactivate(
 {
     RCLCPP_INFO(getLogger(), "Stopping... please wait...");
 
-    std::this_thread::sleep_for(std::chrono::seconds(1));
-
     robot_->Stop();
 
     RCLCPP_INFO(getLogger(), "System successfully stopped!");

Original file line number	Diff line number	Diff line change
`@@ -199,8 +199,6 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_activate(`
`199`	`199`	`{`
`200`	`200`	`RCLCPP_INFO(getLogger(), "Starting... please wait...");`
`201`	`201`
`202`		`- std::this_thread::sleep_for(std::chrono::seconds(1));`
`203`		`-`
`204`	`202`	`try {`
`205`	`203`	`// Clear fault on robot server if any`
`206`	`204`	`if (robot_->fault()) {`
`@@ -247,8 +245,6 @@ hardware_interface::CallbackReturn FlexivHardwareInterface::on_deactivate(`
`247`	`245`	`{`
`248`	`246`	`RCLCPP_INFO(getLogger(), "Stopping... please wait...");`
`249`	`247`
`250`		`- std::this_thread::sleep_for(std::chrono::seconds(1));`
`251`		`-`
`252`	`248`	`robot_->Stop();`
`253`	`249`
`254`	`250`	`RCLCPP_INFO(getLogger(), "System successfully stopped!");`