Obbart/universal_robots_ros_driver
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Started structure for non real time data parsing

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Thomas Timm Andersen
2015-09-10 17:49:32 +02:00
parent e71848f1f7
commit 4d5c7101ba
2 changed files with 11 additions and 3 deletions
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6
include/ur_modern_driver/robot_state_RT.h
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@@ -9,8 +9,8 @@
* ---------------------------------------------------------------------------- * ----------------------------------------------------------------------------
*/ */
#ifndef ROBOTSTATERT_H_ #ifndef ROBOT_STATE_RT_H_
#define ROBOTSTATERT_H_ #define ROBOT_STATE_RT_H_
#include <inttypes.h> #include <inttypes.h>
#include <vector> #include <vector>
@@ -99,4 +99,4 @@ public:
void unpack(uint8_t * buf); void unpack(uint8_t * buf);
}; };
#endif /* ROBOTSTATERT_H_ */ #endif /* ROBOT_STATE_RT_H_ */

8
launch/ur_common.launch
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@@ -13,6 +13,14 @@
<arg name="max_payload"/> <arg name="max_payload"/>
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. <!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line --> NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/> <param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>