Obbart/universal_robots_ros_driver
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Added reconnect to secondary port

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This commit is contained in:
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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23
src/ur_driver.cpp
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@@ -91,9 +91,9 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
}
//make sure we come to a smooth stop
/*while (timestamps.back() < inp_timestamps.back()) {
timestamps.push_back(timestamps.back() + 0.008);
}
timestamps.pop_back();*/
timestamps.push_back(timestamps.back() + 0.008);
}
timestamps.pop_back();*/
unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) {
@@ -162,7 +162,7 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
}
positions = UrDriver::interp_cubic(
std::chrono::duration_cast<std::chrono::duration<double>>(
t - t0).count()- inp_timestamps[j - 1],
t - t0).count() - inp_timestamps[j - 1],
inp_timestamps[j] - inp_timestamps[j - 1], inp_positions[j - 1],
inp_positions[j], inp_velocities[j - 1], inp_velocities[j]);
for (int i = 0; i < 6; i++) {
@@ -297,16 +297,17 @@ void UrDriver::uploadProg() {
}
void UrDriver::start() {
sec_interface_->start();
rt_interface_->robot_state_->setVersion(
sec_interface_->robot_state_->getVersion());
rt_interface_->start();
ip_addr_ = rt_interface_->getLocalIp(); //inet_ntoa(serv_addr.sin_addr);
if (sec_interface_->start()) {
rt_interface_->robot_state_->setVersion(
sec_interface_->robot_state_->getVersion());
rt_interface_->start();
ip_addr_ = rt_interface_->getLocalIp(); //inet_ntoa(serv_addr.sin_addr);
#ifdef ROS_BUILD
ROS_DEBUG("Listening on %s:%u\n", ip_addr_.c_str(), REVERSE_PORT_);
ROS_DEBUG("Listening on %s:%u\n", ip_addr_.c_str(), REVERSE_PORT_);
#else
printf("Listening on %s:%u\n", ip_addr_.c_str(), REVERSE_PORT_);
printf("Listening on %s:%u\n", ip_addr_.c_str(), REVERSE_PORT_);
#endif
}
}
void UrDriver::halt() {