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UniversalRobots · Jul 9, 2024 · 48eea48 · 48eea48
1 parent 89afe6d
commit 48eea48
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Showing 2 changed files with 21 additions and 21 deletions.
diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h
@@ -129,24 +129,24 @@ class UrDriver
    * \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series)
    */
   [[deprecated(
-    "Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has "
-               "been deprecated. Force mode parameters should be specified with each activiation of force mode, and "
-               "can be set in the function call to start force mode.")]] UrDriver(const std::string& robot_ip, 
-                                                                                  const std::string& script_file, 
-                                                                                  const std::string& output_recipe_file,
-                                                                                  const std::string& input_recipe_file, 
-                                                                                  std::function<void(bool)> handle_program_state, 
-                                                                                  bool headless_mode,
-                                                                                  std::unique_ptr<ToolCommSetup> tool_comm_setup, 
-                                                                                  const uint32_t reverse_port,
-                                                                                  const uint32_t script_sender_port, 
-                                                                                  int servoj_gain, double servoj_lookahead_time, 
-                                                                                  bool non_blocking_read,
-                                                                                  const std::string& reverse_ip, 
-                                                                                  const uint32_t trajectory_port, 
-                                                                                  const uint32_t script_command_port,
-                                                                                  double force_mode_damping, 
-                                                                                  double force_mode_gain_scaling = 0.5);
+      "Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has "
+      "been deprecated. Force mode parameters should be specified with each activiation of force mode, and "
+      "can be set in the function call to start force mode.")]] UrDriver(const std::string& robot_ip,
+                                                                         const std::string& script_file,
+                                                                         const std::string& output_recipe_file,
+                                                                         const std::string& input_recipe_file,
+                                                                         std::function<void(bool)> handle_program_state,
+                                                                         bool headless_mode,
+                                                                         std::unique_ptr<ToolCommSetup> tool_comm_setup,
+                                                                         const uint32_t reverse_port,
+                                                                         const uint32_t script_sender_port,
+                                                                         int servoj_gain, double servoj_lookahead_time,
+                                                                         bool non_blocking_read,
+                                                                         const std::string& reverse_ip,
+                                                                         const uint32_t trajectory_port,
+                                                                         const uint32_t script_command_port,
+                                                                         double force_mode_damping,
+                                                                         double force_mode_gain_scaling = 0.5);
 
   /*!
    * \brief Constructs a new UrDriver object.
@@ -449,7 +449,7 @@ class UrDriver
    * \returns True, if the write was performed successfully, false otherwise.
    */
   [[deprecated("Starting force mode without specifying the force mode damping factor and gain scale factor has been "
-               "deprecated. These values should be given with each function call.")]] bool 
+               "deprecated. These values should be given with each function call.")]] bool
   startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench,
                  const unsigned int type, const vector6d_t& limits);
 

diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp
@@ -142,8 +142,8 @@ urcl::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_
     }
     begin_replace << "set_tool_voltage("
                   << static_cast<std::underlying_type<ToolVoltage>::type>(tool_comm_setup->getToolVoltage()) << ")\n";
-    begin_replace << "set_tool_communication(" 
-                  << "True" 
+    begin_replace << "set_tool_communication("
+                  << "True"
                   << ", " << tool_comm_setup->getBaudRate() << ", "
                   << static_cast<std::underlying_type<Parity>::type>(tool_comm_setup->getParity()) << ", "
                   << tool_comm_setup->getStopBits() << ", " << tool_comm_setup->getRxIdleChars() << ", "