Obbart/universal_robots_ros_driver
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send keepalive signal when no (commanding) controller is active

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Otherwise the hardware disconnects as soon as we stop a controller by hand.
This commit is contained in:
Felix Mauch
2019-06-26 08:48:24 +02:00
parent 8c9f79bc3b
commit 14b9dd4f1b
3 changed files with 33 additions and 6 deletions
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4
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -292,6 +292,10 @@ void HardwareInterface ::write(const ros::Time& time, const ros::Duration& perio
{
ur_driver_->writeJointCommand(joint_position_command_);
}
else
{
ur_driver_->writeKeepalive();
}
}
bool HardwareInterface ::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,

17
ur_rtde_driver/src/ur/ur_driver.cpp
View File

@@ -138,14 +138,19 @@ bool UrDriver::writeJointCommand(const vector6d_t& values)
{
if (reverse_interface_active_)
{
reverse_interface_->write(values);
}
else
{
return false;
return reverse_interface_->write(&values);
}
return false;
}
return true;
bool UrDriver::writeKeepalive()
{
if (reverse_interface_active_)
{
vector6d_t* fake = nullptr;
return reverse_interface_->write(fake, 1);
}
return false;
}
void UrDriver::startWatchdog()