Obbart/universal_robots_ros_driver
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implemented script_sender and moved sending of robot program

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This commit is contained in:
Tristan Schnell
2019-05-22 15:44:43 +02:00
parent 89ee1aae8a
commit a0ea50a031
3 changed files with 132 additions and 13 deletions
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18
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -62,7 +62,8 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
stream.connect();
std::string local_ip = stream.getIP();
uint32_t reverse_port = 50001; // TODO: Make this a parameter
uint32_t reverse_port = 50001; // TODO: Make this a parameter
uint32_t script_sender_port = 50002; // TODO: Make this a parameter
std::string prog = readScriptFile(script_file);
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
@@ -72,19 +73,10 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));
size_t len = prog.size();
const uint8_t* data = reinterpret_cast<const uint8_t*>(prog.c_str());
size_t written;
if (stream.write(data, len, written))
{
LOG_INFO("Sent program to robot");
}
else
{
LOG_ERROR("Could not send program to robot");
}
script_sender_.reset(new comm::ScriptSender(script_sender_port, prog));
script_sender_->start();
LOG_INFO("Created script sender");
reverse_interface_.reset(new comm::ReverseInterface(reverse_port));
LOG_INFO("Created reverse interface");