// Destructor
~NodeClass()
{
#ifdef __SIM__
#else
m_CanCtrlPltf->shutdownPltf();
#endif
}
// shutdown Drivers and Can-Node
bool srvCallback_Shutdown(cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
ROS_DEBUG("Service callback shutdown");
res.success.data = m_CanCtrlPltf->shutdownPltf();
if (res.success.data)
ROS_INFO("Drives shut down");
else
ROS_INFO("Shutdown of Drives FAILED");
return true;
}
// Destructor
~NodeClass()
{
m_CanCtrlPltf->shutdownPltf();
}