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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13
launch/ur_common.launch
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@@ -16,19 +16,12 @@
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- driver -->
<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg robot_ip)" output="screen">
<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>

7
src/ur_ros_wrapper.cpp
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@@ -431,14 +431,19 @@ int main(int argc, char **argv) {
if (ros::param::get("use_sim_time", use_sim_time)) {
ROS_WARN("use_sim_time is set!!");
}
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 if (!(ros::param::get("~robot_ip", host))) {
} 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);
ros::spin();