Obbart/universal_robots_ros_driver
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Removed commented code and non-RT socket write

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This commit is contained in:
Thomas Timm Andersen
2015-09-17 13:59:42 +02:00
parent 0310193b15
commit 36c8b70ba0
5 changed files with 8 additions and 39 deletions
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2
include/ur_modern_driver/robot_state.h
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@@ -133,7 +133,7 @@ public:
bool getNewDataAvailable();
void finishedReading();
std::vector<double> getVActual();
int unpack(uint8_t * buf, unsigned int buf_length);
void unpack(uint8_t * buf, unsigned int buf_length);
void unpackRobotMessage(uint8_t * buf, unsigned int offset, uint32_t len);
void unpackRobotMessageVersion(uint8_t * buf, unsigned int offset,
uint32_t len);

3
include/ur_modern_driver/ur_communication.h
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@@ -42,8 +42,6 @@ private:
bool keepalive_;
std::thread comThread_;
int flag_;
std::recursive_mutex command_string_lock_;
std::string command_;
void run();
public:
@@ -53,7 +51,6 @@ public:
UrCommunication(std::condition_variable& msg_cond, std::string host);
void start();
void halt();
void addCommandToQueue(std::string inp);
};