From 68835be49b08109d5e150bfd13571b572ecb1a0e Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Thu, 9 May 2019 16:05:23 +0200
Subject: [PATCH] do not timeout on rtde_read

We should not timeout on that as this is the method of the robot commanding
the cycle time. We should unconditionally act on the robot's events.
---
 ur_rtde_driver/src/ur/ur_driver.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index 95543bf..ea773a2 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -156,7 +156,8 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
   // TODO: This goes into the rtde_client
   std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
   uint32_t period_ms = (1.0 / rtde_frequency_) * 1000;
-  std::chrono::milliseconds timeout(period_ms);
+  // std::chrono::milliseconds timeout(period_ms);
+  std::chrono::milliseconds timeout(100);
   if (rtde_client_->getDataPackage(urpackage, timeout))
   {
     rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());