Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Started structure for non real time data parsing

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-10 17:49:32 +02:00
parent e71848f1f7
commit 4d5c7101ba
2 changed files with 11 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
include/ur_modern_driver/robot_state_RT.h
View File

@@ -9,8 +9,8 @@
* ----------------------------------------------------------------------------
*/
#ifndef ROBOTSTATERT_H_
#define ROBOTSTATERT_H_
#ifndef ROBOT_STATE_RT_H_
#define ROBOT_STATE_RT_H_
#include <inttypes.h>
#include <vector>
@@ -99,4 +99,4 @@ public:
void unpack(uint8_t * buf);
};
#endif /* ROBOTSTATERT_H_ */
#endif /* ROBOT_STATE_RT_H_ */

8
launch/ur_common.launch
View File

@@ -12,6 +12,14 @@
<arg name="min_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.
NOTE: The ip address is actually passed to the driver on the command line -->