Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Added a check to see that the robot is connected before attempting to write to the socket. Fixes #11

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-10-28 11:25:59 +01:00
parent b0a896b2e7
commit 839d90c4ab
1 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/ur_realtime_communication.cpp
View File

@@ -89,7 +89,10 @@ void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
if (inp.back() != '\n') {
inp.append("\n");
}
bytes_written = write(sockfd_, inp.c_str(), inp.length());
if (connected_)
bytes_written = write(sockfd_, inp.c_str(), inp.length());
else
print_error("Could not send command \"" +inp + "\". The robot is not connected! Command is discarded" );
}
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,