Obbart/universal_robots_ros_driver
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Ignore malformed messages from UR5 running 1.8.X.

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This commit is contained in:
Jethro Tan
2015-12-02 14:08:51 +01:00
parent 952ed2146c
commit 1064510bd1
1 changed files with 8 additions and 0 deletions
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8
src/robot_state_RT.cpp
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@@ -327,6 +327,14 @@ void RobotStateRT::unpack(uint8_t * buf) {
val_lock_.unlock(); val_lock_.unlock();
return; 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)); memcpy(&unpack_to, &buf[offset], sizeof(unpack_to));
time_ = RobotStateRT::ntohd(unpack_to); time_ = RobotStateRT::ntohd(unpack_to);
offset += sizeof(double); offset += sizeof(double);