Obbart/universal_robots_ros_driver
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added the rtde client class that initializes the rtde handshake and

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allows reading of data packages
This commit is contained in:
Tristan Schnell
2019-04-10 17:43:44 +02:00
parent 89ee72ac2d
commit 742bc11c8f
4 changed files with 132 additions and 2 deletions
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4
include/ur_rtde_driver/comm/pipeline.h
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@@ -181,9 +181,9 @@ public:
notifier_.stopped(name_);
}
bool getLatestProduct(std::unique_ptr<URPackage<HeaderT>> product, std::chrono::milliseconds timeout)
bool getLatestProduct(std::unique_ptr<URPackage<HeaderT>>& product, std::chrono::milliseconds timeout)
{
return !queue_.wait_dequeue_timed(product, timeout);
return queue_.wait_dequeue_timed(product, timeout);
}
private: