Obbart/universal_robots_ros_driver
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Added doc for headless_mode attribute

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This commit is contained in:
Felix Mauch
2019-09-30 17:50:03 +02:00
parent 888db15012
commit 39b4d23049
11 changed files with 57 additions and 13 deletions
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5
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -90,6 +90,9 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
}
bool headless_mode;
// Start robot in headless mode. This does not require the 'External Control' URCap to be running
// on the robot, but this will send the URScript to the robot directly. On e-Series robots this
// requires the robot to run in 'remote-control' mode.
if (!robot_hw_nh.getParam("headless_mode", headless_mode))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("headless_mode") << " not given.");
@@ -296,6 +299,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
if (headless_mode)
{
// When in headless mode, this sends the URScript program to the robot for execution. Use this
// after the program has been interrupted, e.g. by a protective- or EM-stop.
resend_robot_program_srv_ =
robot_hw_nh.advertiseService("resend_robot_program", &HardwareInterface::resendRobotProgram, this);
}