Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 18:10:47 +02:00
Code Releases Activity

Use correct naming scheme for variable robot_ip

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
View File

@@ -51,7 +51,7 @@ class RTDEClient
{ {
public: public:
RTDEClient() = delete; RTDEClient() = delete;
RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier); RTDEClient(std::string robot_ip, comm::INotifier& notifier);
~RTDEClient() = default; ~RTDEClient() = default;
bool init(); bool init();
bool start(); bool start();

4
ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
View File

@@ -42,9 +42,9 @@ public:
/*! /*!
* \brief Constructs a new UrDriver object. * \brief Constructs a new UrDriver object.
* *
* \param ROBOT_IP IP-address under which the robot is reachable. * \param robot_ip IP-address under which the robot is reachable.
*/ */
UrDriver(const std::string& ROBOT_IP); UrDriver(const std::string& robot_ip);
virtual ~UrDriver() = default; virtual ~UrDriver() = default;
/*! /*!

4
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -44,10 +44,10 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
{ {
joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } }; joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } };
joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } }; joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
std::string ROBOT_IP = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101"); std::string robot_ip = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
ROS_INFO_STREAM("Initializing urdriver"); ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(ROBOT_IP)); ur_driver_.reset(new UrDriver(robot_ip));
if (!root_nh.getParam("hardware_interface/joints", joint_names_)) if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{ {

4
ur_rtde_driver/src/rtde/rtde_client.cpp
View File

@@ -31,8 +31,8 @@ namespace ur_driver
{ {
namespace rtde_interface namespace rtde_interface
{ {
RTDEClient::RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier) RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier)
: stream_(ROBOT_IP, UR_RTDE_PORT) : stream_(robot_ip, UR_RTDE_PORT)
, parser_(readRecipe()) , parser_(readRecipe())
, prod_(stream_, parser_) , prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier) , pipeline_(prod_, PIPELINE_NAME, notifier)

8
ur_rtde_driver/src/ur/ur_driver.cpp
View File

@@ -118,11 +118,11 @@ def myProg():
end 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) : servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
{ {
ROS_INFO_STREAM("Initializing RTDE client"); 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()) if (!rtde_client_->init())
{ {
@@ -132,7 +132,9 @@ ur_driver::UrDriver::UrDriver(const std::string& ROBOT_IP)
rtde_frequency_ = rtde_client_->getMaxFrequency(); rtde_frequency_ = rtde_client_->getMaxFrequency();
servoj_time_ = 1.0 / rtde_frequency_; 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(); stream.connect();
std::string local_ip = stream.getIP(); std::string local_ip = stream.getIP();