Obbart/universal_robots_ros_driver
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do not use ROS logging inside non-ROS code

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This commit is contained in:
Felix Mauch
2019-05-20 11:32:10 +02:00
parent ac5e4d85aa
commit 19cb6fa519
1 changed files with 3 additions and 3 deletions
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6
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -122,7 +122,7 @@ 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"); LOG_INFO("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())
@@ -164,10 +164,10 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip)
reverse_interface_.reset(new comm::ReverseInterface(reverse_port)); reverse_interface_.reset(new comm::ReverseInterface(reverse_port));
ROS_INFO_STREAM("Created reverse interface"); LOG_INFO("Created reverse interface");
rtde_client_->start(); // TODO: Add extra start method (also to HW-Interface) rtde_client_->start(); // TODO: Add extra start method (also to HW-Interface)
ROS_INFO_STREAM("Initialization done"); LOG_INFO("Initialization done");
} }
std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage() std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage()