Obbart/universal_robots_ros_driver
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Updated ROS interface showing required parameters

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This commit is contained in:
Felix Mauch
2019-10-01 18:37:10 +02:00
parent 39b4d23049
commit 9af6389b52
2 changed files with 53 additions and 56 deletions
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10
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -57,7 +57,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
std::string output_recipe_filename;
std::string input_recipe_filename;
// The robot's IP address. This parameter is required.
// The robot's IP address.
if (!robot_hw_nh.getParam("robot_ip", robot_ip_))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("robot_ip_") << " not given.");
@@ -66,23 +66,21 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
// Path to the urscript code that will be sent to the robot. This is a required parameter.
// Path to the urscript code that will be sent to the robot.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("script_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE outputs. This is a required
// parameter.
// Path to the file containing the recipe used for requesting RTDE outputs.
if (!robot_hw_nh.getParam("output_recipe_file", output_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("output_recipe_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE inputs. This is a required
// parameter.
// Path to the file containing the recipe used for requesting RTDE inputs.
if (!robot_hw_nh.getParam("input_recipe_file", input_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("input_recipe_file") << " not given.");