Obbart/universal_robots_ros_driver
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Code Releases Activity

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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5
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -42,11 +42,12 @@ static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}");
ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file)
ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
const std::string& recipe_file)
: servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03)
{
LOG_INFO("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_));
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));
if (!rtde_client_->init())
{