Obbart/universal_robots_ros_driver
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get frequency from robot

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This commit is contained in:
Felix Mauch
2019-05-07 14:30:45 +02:00
parent f38ec92389
commit 4106aa9fb8
10 changed files with 49 additions and 31 deletions
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8
ur_rtde_driver/src/rtde/rtde_client.cpp
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@@ -36,6 +36,7 @@ RTDEClient::RTDEClient(std::string ROBOT_IP, comm::INotifier& notifier)
, parser_(readRecipe())
, prod_(stream_, parser_)
, pipeline_(prod_, PIPELINE_NAME, notifier)
, max_frequency_(URE_MAX_FREQUENCY)
{
}
@@ -68,7 +69,6 @@ bool RTDEClient::init()
}
// determine maximum frequency from ur-control version
double max_frequency = URE_MAX_FREQUENCY;
size = GetUrcontrolVersionRequest::generateSerializedRequest(buffer);
stream_.write(buffer, size, written);
pipeline_.getLatestProduct(package, std::chrono::milliseconds(1000));
@@ -76,14 +76,14 @@ bool RTDEClient::init()
dynamic_cast<rtde_interface::GetUrcontrolVersion*>(package.get());
if (tmp_control_version->major_ < 5)
{
max_frequency = CB3_MAX_FREQUENCY;
max_frequency_ = CB3_MAX_FREQUENCY;
}
// sending output recipe
LOG_INFO("Setting up RTDE communication with frequency %f", max_frequency);
LOG_INFO("Setting up RTDE communication with frequency %f", max_frequency_);
if (protocol_version == 2)
{
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency, readRecipe());
size = ControlPackageSetupOutputsRequest::generateSerializedRequest(buffer, max_frequency_, readRecipe());
}
else
{