Obbart/universal_robots_ros_driver
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Added verification of RT message length for firmware versions 1.6 to 3.2

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Thomas Timm Andersen
2015-12-03 11:29:21 +01:00
parent 3402db3348
commit a3e174626c
2 changed files with 24 additions and 13 deletions
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src/ur_driver.cpp
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@@ -30,6 +30,7 @@ UrDriver::UrDriver(std::condition_variable& rt_msg_cond,
struct sockaddr_in serv_addr;
int n, flag;
firmware_version_ = 0;
reverse_connected_ = false;
executing_traj_ = false;
rt_interface_ = new UrRealtimeCommunication(rt_msg_cond, host,