Obbart/universal_robots_ros_driver
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Added parameter for reverse port. closes #12

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This commit is contained in:
Thomas Timm Andersen
2015-10-30 13:05:26 +01:00
parent 09dbe010ae
commit 58352a9502
1 changed files with 18 additions and 5 deletions
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23
src/ur_ros_wrapper.cpp
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@@ -75,11 +75,11 @@ protected:
boost::shared_ptr<controller_manager::ControllerManager> controller_manager_; boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
public: public:
RosWrapper(std::string host) : RosWrapper(std::string host, int reverse_port) :
as_(nh_, "follow_joint_trajectory", as_(nh_, "follow_joint_trajectory",
boost::bind(&RosWrapper::goalCB, this, _1), boost::bind(&RosWrapper::goalCB, this, _1),
boost::bind(&RosWrapper::cancelCB, this, _1), false), robot_( boost::bind(&RosWrapper::cancelCB, this, _1), false), robot_(
rt_msg_cond_, msg_cond_, host), io_flag_delay_(0.05), joint_offsets_( rt_msg_cond_, msg_cond_, host, reverse_port), io_flag_delay_(0.05), joint_offsets_(
6, 0.0) { 6, 0.0) {
std::string joint_prefix = ""; std::string joint_prefix = "";
@@ -219,7 +219,11 @@ private:
print_error(result_.error_string); print_error(result_.error_string);
return; return;
} }
result_.error_string = "Cannot accept new trajectories. (Debug: Robot mode is " + std::to_string(robot_.sec_interface_->robot_state_->getRobotMode()) + ")"; result_.error_string =
"Cannot accept new trajectories. (Debug: Robot mode is "
+ std::to_string(
robot_.sec_interface_->robot_state_->getRobotMode())
+ ")";
gh.setRejected(result_, result_.error_string); gh.setRejected(result_, result_.error_string);
print_error(result_.error_string); print_error(result_.error_string);
return; return;
@@ -295,7 +299,8 @@ private:
if (!has_limited_velocities()) { if (!has_limited_velocities()) {
result_.error_code = result_.INVALID_GOAL; result_.error_code = result_.INVALID_GOAL;
result_.error_string = result_.error_string =
"Received a goal with velocities that are higher than " + std::to_string(max_velocity_); "Received a goal with velocities that are higher than "
+ std::to_string(max_velocity_);
gh.setRejected(result_, result_.error_string); gh.setRejected(result_, result_.error_string);
print_error(result_.error_string); print_error(result_.error_string);
return; return;
@@ -645,6 +650,7 @@ private:
int main(int argc, char **argv) { int main(int argc, char **argv) {
bool use_sim_time = false; bool use_sim_time = false;
std::string host; std::string host;
int reverse_port = 50001;
ros::init(argc, argv, "ur_driver"); ros::init(argc, argv, "ur_driver");
ros::NodeHandle nh; ros::NodeHandle nh;
@@ -663,8 +669,15 @@ int main(int argc, char **argv) {
} }
} }
if ((ros::param::get("~reverse_port", reverse_port))) {
if((reverse_port <= 0) or (reverse_port >= 65535)) {
print_warning("Reverse port value is not valid (Use number between 1 and 65534. Using default value of 50001");
reverse_port = 50001;
}
} else
reverse_port = 50001;
RosWrapper interface(host); RosWrapper interface(host, reverse_port);
ros::AsyncSpinner spinner(3); ros::AsyncSpinner spinner(3);
spinner.start(); spinner.start();