Obbart/universal_robots_ros_driver
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Use correct naming scheme for variable robot_ip

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This commit is contained in:
Felix Mauch
2019-05-20 11:29:14 +02:00
parent 7743c79f6d
commit 0e0bffcdc6
5 changed files with 12 additions and 10 deletions
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8
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -118,11 +118,11 @@ def myProg():
end
)";
ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
ur_driver::UrDriver::UrDriver(const std::string& robot_ip)
: servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
{
ROS_INFO_STREAM("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(ROBOT_IP, notifier_));
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_));
if (!rtde_client_->init())
{
@@ -132,7 +132,9 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
rtde_frequency_ = rtde_client_->getMaxFrequency();
servoj_time_ = 1.0 / rtde_frequency_;
comm::URStream<rtde_interface::PackageHeader> stream(ROBOT_IP, 30001);
// Open Stream to get own IP
// TODO: Open Primary interface to query version and calibration
comm::URStream<rtde_interface::PackageHeader> stream(robot_ip, 30001);
stream.connect();
std::string local_ip = stream.getIP();