Obbart/universal_robots_ros_driver
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rtde_client: fix typos.

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gavanderhoorn
2019-07-14 15:53:14 +00:00
parent 3993466f24
commit 03e7030872
1 changed files with 2 additions and 2 deletions
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4
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -67,7 +67,7 @@ bool RTDEClient::init()
tmp_version = dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get()); tmp_version = dynamic_cast<rtde_interface::RequestProtocolVersion*>(package.get());
if (!tmp_version->accepted_) if (!tmp_version->accepted_)
{ {
throw UrException("Neither protocol version 1 nor 2 were accepted by the robot. This should not happen!"); throw UrException("Neither protocol version 1 nor 2 was accepted by the robot. This should not happen!");
} }
} }
@@ -110,7 +110,7 @@ bool RTDEClient::start()
std::unique_ptr<comm::URPackage<PackageHeader>> package; std::unique_ptr<comm::URPackage<PackageHeader>> package;
stream_.write(buffer, size, written); stream_.write(buffer, size, written);
if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000))) if (!pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000)))
throw UrException("Could not get respone to rtde communication start request from robot. This should not happen!"); throw UrException("Could not get response to RTDE communication start request from robot. This should not happen!");
rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get()); rtde_interface::ControlPackageStart* tmp = dynamic_cast<rtde_interface::ControlPackageStart*>(package.get());
return tmp->accepted_; return tmp->accepted_;
} }