Rename the acknowledge service's result variable

`Success` is more common and more concise.
SCHUNK-SE-Co-KG · Jul 25, 2024 · ffbdebf · ffbdebf
1 parent d6657cf
commit ffbdebf
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp b/schunk_egu_egk_gripper_driver/src/schunk_gripper_wrapper.cpp
@@ -1153,20 +1153,20 @@ void SchunkGripperNode::acknowledge_srv(const std::shared_ptr<Acknowledge::Reque
 
         if(check()) //TODO handshake
         {
-            res->acknowledged = true;
+            res->success = true;
             RCLCPP_WARN(this->get_logger(),"Acknowledged");
         }
         else
         {
-            res->acknowledged = false;
+            res->success = false;
             RCLCPP_WARN(this->get_logger(),"Acknowledge failed!");
         }
     }
     catch(const char* server_err)
     {
         connection_error = server_err ;
         RCLCPP_ERROR(this->get_logger(), "Failed Connection! %s", connection_error.c_str());
-        res->acknowledged = false;
+        res->success = false;
         RCLCPP_WARN(this->get_logger(), "Acknowledge failed!");
     }
     last_command = 0;

diff --git a/schunk_egu_egk_gripper_examples/src/gripper_example.cpp b/schunk_egu_egk_gripper_examples/src/gripper_example.cpp
@@ -280,7 +280,7 @@ void acknowledge(rclcpp::Client<Acknowledge>::SharedPtr acknowledge_client)
 
     RCLCPP_INFO(rclcpp::get_logger("schunk_gripper_example"), "Call acknowledge-server.");
     //To end the error: acknowledge
-    bool acknowledged = acknowledge_client->async_send_request(acknowledge_srv).get()->acknowledged;
+    bool acknowledged = acknowledge_client->async_send_request(acknowledge_srv).get()->success;
     RCLCPP_INFO(rclcpp::get_logger("schunk_gripper_example"), "%s", acknowledged ? "Acknowledged" : "Not acknowledged");
 
 }
@@ -548,7 +548,7 @@ int main(int argc, char** argv)
     if(diagnostic_msg.status[0].level == diagnostic_msgs::msg::DiagnosticStatus::ERROR)
     {
         auto response = acknowledge_client->async_send_request(acknowledge_req);
-        if(response.get()->acknowledged)
+        if(response.get()->success)
         RCLCPP_INFO(node->get_logger(), "AN ERROR WAS ACKNOWLEDGED!");
     }
 

diff --git a/schunk_egu_egk_gripper_interfaces/srv/Acknowledge.srv b/schunk_egu_egk_gripper_interfaces/srv/Acknowledge.srv
@@ -1,2 +1,2 @@
 ---
-bool acknowledged
+bool success