Bugfix: KukaLLBRiiwaVrepPlugin moves arm in JAVA simulation again. Ar…

…m wouldn't move because kukaFRIThreadSeparatorP wasn't running.
ahundt · Jul 29, 2015 · 003b95e · 003b95e
1 parent aba9188
commit 003b95e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/include/grl/vrep/KukaLBRiiwaVrepPlugin.hpp b/include/grl/vrep/KukaLBRiiwaVrepPlugin.hpp
@@ -136,7 +136,9 @@ KukaVrepPlugin (Params params = defaultParams())
 {
 /// @todo figure out how to re-enable when .so isn't loaded
  // initHandles();
- if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")))
+ if( boost::iequals(std::get<KukaCommandMode>(params_),std::string("FRI_ASYNC")) ||
+     boost::iequals(std::get<KukaCommandMode>(params_),std::string("JAVA"))
+ )
  {
      kukaFRIThreadSeparatorP.reset(
         new grl::KukaFRIThreadSeparator(