Obbart/universal_robots_ros_driver
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moved rtde recipe to external text file

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This commit is contained in:
Tristan Schnell
2019-05-23 15:03:39 +02:00
parent 876d4a06f5
commit 649f499499
8 changed files with 37 additions and 17 deletions
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9
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -46,14 +46,21 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
std::string robot_ip = robot_hw_nh.param<std::string>("robot_ip", "192.168.56.101");
std::string script_filename;
std::string recipe_filename;
if (!robot_hw_nh.getParam("script_file", script_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("script_file") << " not given.");
return false;
}
if (!robot_hw_nh.getParam("recipe_file", recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("recipe_file") << " not given.");
return false;
}
ROS_INFO_STREAM("Initializing urdriver");
ur_driver_.reset(new UrDriver(robot_ip, script_filename));
ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename));
if (!root_nh.getParam("hardware_interface/joints", joint_names_))
{