Obbart/universal_robots_ros_driver
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do not timeout on rtde_read

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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.
This commit is contained in:
Felix Mauch
2019-05-09 16:05:23 +02:00
parent 9ac939b2b0
commit 68835be49b
1 changed files with 2 additions and 1 deletions
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ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -156,7 +156,8 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
// TODO: This goes into the rtde_client // TODO: This goes into the rtde_client
std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage; std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
uint32_t period_ms = (1.0 / rtde_frequency_) * 1000; 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)) if (rtde_client_->getDataPackage(urpackage, timeout))
{ {
rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get()); rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());