Obbart/universal_robots_ros_driver
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Publish industrial_msgs::RobotStatus (#5)

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This commit is contained in:
Simon Schmeisser
2018-01-02 20:16:41 +01:00
committed by Simon Rasmussen
parent 560affaa78
commit 24eef75d72
6 changed files with 73 additions and 4 deletions
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8
include/ur_modern_driver/ros/mb_publisher.h
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@@ -1,5 +1,6 @@
#pragma once
#include <industrial_msgs/RobotStatus.h>
#include <ros/ros.h>
#include <ur_msgs/Analog.h>
#include <ur_msgs/Digital.h>
@@ -14,6 +15,7 @@ class MBPublisher : public URStatePacketConsumer
private:
NodeHandle nh_;
Publisher io_pub_;
Publisher status_pub_;
template <size_t N>
inline void appendDigital(std::vector<ur_msgs::Digital>& vec, std::bitset<N> bits)
@@ -28,9 +30,13 @@ private:
}
void publish(ur_msgs::IOStates& io_msg, SharedMasterBoardData& data);
void publishRobotStatus(industrial_msgs::RobotStatus& status, const SharedRobotModeData& data) const;
void publishRobotStatus(const RobotModeData_V1_X& data) const;
void publishRobotStatus(const RobotModeData_V3_0__1& data) const;
public:
MBPublisher() : io_pub_(nh_.advertise<ur_msgs::IOStates>("ur_driver/io_states", 1))
, status_pub_(nh_.advertise<industrial_msgs::RobotStatus>("ur_driver/robot_status", 1))
{
}
@@ -51,4 +57,4 @@ public:
virtual void stopConsumer()
{
}
};
};

2
include/ur_modern_driver/ros/rt_publisher.h
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@@ -71,4 +71,4 @@ public:
virtual void stopConsumer()
{
}
};
};