set_digital_output service has success=false, but output is set correctly about phidgets_drivers

[clalancette]

From this report, I'm assuming that you are using phidgets on Kinetic or Melodic. Can you please confirm which one you are using?

Assuming that is true, than the code that does the setting is here:

phidgets_drivers/phidgets_ik/src/ik_ros_i.cpp

Line 96 in f94866c

res.success = !setOutputState(req.index, req.state);

You can see that it sets res.success to the inverse of what the state is. It is kind of odd behavior, I agree. Maybe @mintar can shed some light on why it was done that way originally?

I will point out that in the noetic branch (and the in the ROS 2 branches), the state gets set properly and success always gets set to true.

[mintar]

That bug seems to have been introduced in 2110921:

• A new function IK::setOutputState was introduced which returns !CPhidgetInterfaceKit_setOutputState (notice the "!"):

2110921#diff-dd8b044942a7eb33f665646f51775f09d54e8cf6880d53a05b70f508152d55d4R55-R59

• The function call to !CPhidgetInterfaceKit_setOutputState was replaced by !setOutputState, but it should have been just setOutputState:

2110921#diff-7e6292f6c639563aabec4ae31525423eb0f72156f927be1a013f4487eafbc3a7L96-R95

I've just pushed a commit that fixes this (ca16fca). I'm closing this issue, but feel free to reopen if you want to continue the discussion.

[clalancette]

I've just pushed a commit that fixes this (ca16fca). I'm closing this issue, but feel free to reopen if you want to continue the discussion.

Thanks!