Obbart/universal_robots_ros_driver
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removed no longer used and supported plain driver startup

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This commit is contained in:
Tristan Schnell
2019-06-11 10:37:35 +02:00
parent c88022eefd
commit 7e56332b26
2 changed files with 0 additions and 47 deletions
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5
ur_rtde_driver/CMakeLists.txt
View File

@@ -107,11 +107,6 @@ add_executable(ur_rtde_driver_node
target_link_libraries(ur_rtde_driver_node ${catkin_LIBRARIES} ur_rtde_driver)
add_dependencies(ur_rtde_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(plain_driver
src/main_plain_driver.cpp
)
target_link_libraries(plain_driver ${catkin_LIBRARIES} ur_rtde_driver)
add_dependencies(plain_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS ur_rtde_driver ur_rtde_driver_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

42
ur_rtde_driver/src/main_plain_driver.cpp
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@@ -1,42 +0,0 @@
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Mauch mauch@fzi.de
* \date 2019-04-11
*
*/
//----------------------------------------------------------------------
#include <ur_rtde_driver/ur/ur_driver.h>
using namespace ur_driver;
int main(int argc, char* argv[])
{
std::string robot_ip = "192.168.56.101";
std::string script_filename = "urprog.urscript";
std::string recipe_filename = "rtde_recipe.txt";
if (argc > 2)
{
robot_ip = argv[1];
}
UrDriver driver(robot_ip, script_filename, recipe_filename);
while (true)
{
sleep(1);
std::unique_ptr<rtde_interface::DataPackage> data_pkg = driver.getDataPackage();
if (data_pkg)
{
data_pkg->toString();
}
}
return 0;
}