Obbart/universal_robots_ros_driver
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Added reconnect to secondary port

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Thomas Timm Andersen
2015-09-24 16:10:33 +02:00
parent 039664a1a3
commit 6e9f646b02
3 changed files with 107 additions and 24 deletions
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4
include/ur_modern_driver/ur_communication.h
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@@ -29,6 +29,8 @@
#include <iostream>
#include <unistd.h>
#include <chrono>
#include <fcntl.h>
#include <sys/types.h>
#ifdef ROS_BUILD
#include <ros/ros.h>
@@ -49,7 +51,7 @@ public:
RobotState* robot_state_;
UrCommunication(std::condition_variable& msg_cond, std::string host);
void start();
bool start();
void halt();
};