Obbart/universal_robots_ros_driver
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ROSify output based on compiler flag

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 14:06:39 +02:00
parent fb95d2188d
commit 1b995a928b
7 changed files with 107 additions and 31 deletions
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4
include/ur_modern_driver/ur_communication.h
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@@ -30,6 +30,10 @@
#include <unistd.h>
#include <chrono>
#ifdef ROS_BUILD
#include <ros/ros.h>
#endif
class UrCommunication {
private:
int pri_sockfd_, sec_sockfd_;

5
include/ur_modern_driver/ur_realtime_communication.h
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@@ -29,9 +29,12 @@
#include <iostream>
#include <unistd.h>
#ifdef ROS_BUILD
#include <ros/ros.h>
#endif
class UrRealtimeCommunication {
private:
const double SAMPLETIME_;
unsigned int safety_count_max_;
int sockfd_;
struct sockaddr_in serv_addr_;