Update hardware_interface.cpp

3a8eea83 · Tom Queen · GitHub · 4cf8d6fc · 3a8eea83
Unverified Commit 3a8eea83 authored Jan 24, 2020 by Tom Queen Committed by GitHub Jan 24, 2020
--- a/ur_robot_driver/src/ros/hardware_interface.cpp
+++ b/ur_robot_driver/src/ros/hardware_interface.cpp
@@ -448,7 +448,7 @@ void HardwareInterface::write(const ros::Time& time, const ros::Duration& period
 {
  if ((runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
       runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)) &&
-      robot_program_running_ && ((non_blocking_read_ && packet_read_) || (!non_blocking_read_)))
+      robot_program_running_ && (!non_blocking_read_ || packet_read_))
  {
    if (position_controller_running_)
    {