Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Cleaned up a bit and removed a few global vars

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-08 12:28:33 +02:00
parent 3e7d9042d1
commit 401a16fbd4
9 changed files with 1093 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
src/ur_driver.cpp Normal file
View File

@@ -0,0 +1,33 @@
/*
* ur_driver.cpp
*
* ----------------------------------------------------------------------------
* "THE BEER-WARE LICENSE" (Revision 42):
* <thomas.timm.dk@gmail.com> wrote this file. As long as you retain this notice you
* can do whatever you want with this stuff. If we meet some day, and you think
* this stuff is worth it, you can buy me a beer in return. Thomas Timm Andersen
* ----------------------------------------------------------------------------
*/
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
uint safety_count_max) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);
}
void UrDriver::start() {
rt_interface_->start();
}
void UrDriver::halt() {
rt_interface_->halt();
}
void UrDriver::setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc) {
rt_interface_->setSpeed(q0, q1, q2, q3, q4, q5, acc);
}