Obbart/universal_robots_ros_driver
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Added catch in case communication fails

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Thomas Timm Andersen
2015-09-24 16:26:19 +02:00
parent ef7acd55b6
commit 6f3bd5d06f
5 changed files with 49 additions and 37 deletions
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2
include/ur_modern_driver/ur_driver.h
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@@ -46,7 +46,7 @@ public:
unsigned int reverse_port = 50007, unsigned int safety_count_max =
12, double max_time_step = 0.08, double min_payload = 0.,
double max_payload = 1.);
void start();
bool start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,

2
include/ur_modern_driver/ur_realtime_communication.h
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@@ -59,7 +59,7 @@ public:
UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12);
void start();
bool start();
void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc = 100.);