modified operating conditions for automatic torque on-off processing for
motors.
@@ -333,7 +333,9 @@ void updateMotorStatus(DYNAMIXEL::Slave *slave, uint32_t interval_ms)
if(millis() - pre_time_ping >= interval_ms*100){
pre_time_ping = millis();
if(motor_driver.isConnected() == true){
+ if(getConnectionStateWithROS2Node() == false){
motor_driver.setTorque(true);
+ }
dxl_slave.setControlTable(ADDR_DEVICE_STATUS, (int8_t)STATUS_RUNNING);
setConnectionStateWithMotors(true);
}else{
