From a0857ccb0d19395474bb981d4d8285fed731bbff Mon Sep 17 00:00:00 2001 From: Pedro Fontana Date: Mon, 23 Feb 2026 09:55:53 -0300 Subject: [PATCH] support controlling different hw interfaces in combines hw --- xarm_controller/src/xarm_combined_hw.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/xarm_controller/src/xarm_combined_hw.cpp b/xarm_controller/src/xarm_combined_hw.cpp index 8d8bf3ae..f25c6acb 100644 --- a/xarm_controller/src/xarm_combined_hw.cpp +++ b/xarm_controller/src/xarm_combined_hw.cpp @@ -15,7 +15,7 @@ namespace xarm_control for (robot_hw = robot_hw_list_.begin(); robot_hw != robot_hw_list_.end(); ++robot_hw) { xarm_control::XArmHW* xarm_hw_ptr = dynamic_cast((*robot_hw).get()); - if(xarm_hw_ptr->need_reset()) + if(xarm_hw_ptr && xarm_hw_ptr->need_reset()) return true; } return false; @@ -28,7 +28,7 @@ namespace xarm_control for (robot_hw = robot_hw_list_.begin(); robot_hw != robot_hw_list_.end(); ++robot_hw) { xarm_control::XArmHW* xarm_hw_ptr = dynamic_cast((*robot_hw).get()); - if(!xarm_hw_ptr->wait_fbk_start(timeout)) + if(xarm_hw_ptr && !xarm_hw_ptr->wait_fbk_start(timeout)) return false; } return true;