From fc240eff0a9de45b8f0834acaf342858b3812d25 Mon Sep 17 00:00:00 2001
From: Pioneer3 <lab1_5@P3-DX-4322.(none)>
Date: Fri, 28 Sep 2018 17:17:15 +0200
Subject: [PATCH] Small fix in monitoring of clutch state

---
 RosAria.cpp | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/RosAria.cpp b/RosAria.cpp
index 9568ee1..8b1d299 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -92,9 +92,6 @@ protected:
     bool userstop_state;
     bool masterstop_state;
 
-    bool clutch_state;
-
-
     //Gripper
     ros::ServiceServer gripper_open_srv;
     ros::ServiceServer gripper_close_srv;
@@ -524,8 +521,6 @@ int RosAriaNode::Setup()
     userstop_state = false;
     masterstop_state = false;
 
-    clutch_state = true;
-
     // Enable the motors
     robot->enableMotors();
 
@@ -560,7 +555,7 @@ void RosAriaNode::publish_robot_info()
     robot_info_msg.twist.linear.y = robot->getLatVel()/1000.0;
     robot_info_msg.twist.angular.z = robot->getRotVel()*M_PI/180;
     robot_info_msg.state.data = robot_state;
-    robot_info_msg.clutch.data = clutch_state;
+    robot_info_msg.clutch.data = robot->areMotorsEnabled();
     // robot_info_msg.header.stamp = ros::Time::now();
 
     robot_info_pub.publish(robot_info_msg);
@@ -911,7 +906,6 @@ void RosAriaNode::clutch_cb(const std_msgs::Bool &msg)
         robot->lock();
         robot->enableMotors();
         robot->unlock();
-        clutch_state = true;
     }
     else
     {
@@ -919,7 +913,6 @@ void RosAriaNode::clutch_cb(const std_msgs::Bool &msg)
         robot->lock();
         robot->disableMotors();
         robot->unlock();
-        clutch_state = false;
     }
 }