Obbart/universal_robots_ros_driver
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Set speed on all joints to 0 before closing RT socket. Set short timeout on non-RT socket

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Thomas Timm Andersen
2015-09-15 17:12:52 +02:00
parent ad1ec0d9e9
commit 273236f7c1
2 changed files with 4 additions and 0 deletions
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src/ur_realtime_communication.cpp
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@@ -99,6 +99,8 @@ void UrRealtimeCommunication::run() {
command_string_lock_.unlock();
}
setSpeed(0., 0., 0., 0., 0., 0.);
write(sockfd_, command_.c_str(), command_.length());
close(sockfd_);
}