Obbart/universal_robots_ros_driver
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use rtde interface to query control pc's IP

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This commit is contained in:
Felix Mauch
2019-07-16 11:21:09 +02:00
parent 7dd9bc0c55
commit 4a953be4a4
5 changed files with 15 additions and 8 deletions
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7
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -31,7 +31,6 @@
//----------------------------------------------------------------------
#include "ur_rtde_driver/ur/ur_driver.h"
#include "ur_rtde_driver/primary/package_header.h"
#include "ur_rtde_driver/exceptions.h"
#include <memory>
@@ -65,11 +64,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
rtde_frequency_ = rtde_client_->getMaxFrequency();
servoj_time_ = 1.0 / rtde_frequency_;
// Open Stream to get own IP
// TODO: Open Primary interface to query version and calibration
comm::URStream<primary_interface::PackageHeader> stream(robot_ip, 30001);
stream.connect();
std::string local_ip = stream.getIP();
std::string local_ip = rtde_client_->getIP();
uint32_t reverse_port = 50001; // TODO: Make this a parameter
uint32_t script_sender_port = 50002; // TODO: Make this a parameter