Obbart/universal_robots_ros_driver
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Taking IP address from parameter server as default instead of command line as per ROS-Industrial specs

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This commit is contained in:
Thomas Timm Andersen
2015-09-17 13:40:16 +02:00
parent fc219e4eee
commit 0310193b15
2 changed files with 14 additions and 16 deletions
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17
src/ur_ros_wrapper.cpp
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@@ -431,12 +431,17 @@ int main(int argc, char **argv) {
if (ros::param::get("use_sim_time", use_sim_time)) {
ROS_WARN("use_sim_time is set!!");
}
if (argc > 1) {
host = argv[1];
} else if (!(ros::param::get("~robot_ip", host))) {
ROS_FATAL(
"Could not get robot ip. Please supply it as command line parameter or on the parameter server as robot_ip");
exit(1);
if (!(ros::param::get("~robot_ip_address", host))) {
if (argc > 1) {
ROS_WARN(
"Please set the parameter robot_ip_address instead of giving it as a command line argument. This method is DEPRECATED");
host = argv[1];
} else {
ROS_FATAL(
"Could not get robot ip. Please supply it as command line parameter or on the parameter server as robot_ip");
exit(1);
}
}
RosWrapper interface(host);