From 1064510bd1d4ccf61365f5910aec7a37e7916f64 Mon Sep 17 00:00:00 2001
From: Jethro Tan <jethrotan20@gmail.com>
Date: Wed, 2 Dec 2015 14:08:51 +0100
Subject: [PATCH] Ignore malformed messages from UR5 running 1.8.X.

---
 src/robot_state_RT.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/robot_state_RT.cpp b/src/robot_state_RT.cpp
index 10a9644..e3c1dec 100644
--- a/src/robot_state_RT.cpp
+++ b/src/robot_state_RT.cpp
@@ -327,6 +327,14 @@ void RobotStateRT::unpack(uint8_t * buf) {
 		val_lock_.unlock();
 		return;
 	}
+	
+	if (version_ > 1.8 & version_ < 1.9 & len != 812) {
+		// In 1.8.14035, every 17th and 18th package is 560 and 9 bytes long/malformed.
+		//printf("Len: %i\n", len);
+		val_lock_.unlock();
+		return;
+	}
+	
 	memcpy(&unpack_to, &buf[offset], sizeof(unpack_to));
 	time_ = RobotStateRT::ntohd(unpack_to);
 	offset += sizeof(double);