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

changed new urscript to publish keepalive

Browse Source 
Part of #13
This commit is contained in:
Tristan Schnell
2019-05-21 16:13:44 +02:00
parent 673459e9de
commit b22ac7b2c6
1 changed files with 1 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
ur_rtde_driver/resources/servoj.urscript
View File

@@ -61,6 +61,7 @@ keepalive = -2
params_mult = socket_read_binary_integer(6+1, "reverse_socket") params_mult = socket_read_binary_integer(6+1, "reverse_socket")
keepalive = params_mult[7] keepalive = params_mult[7]
while keepalive > 0: while keepalive > 0:
socket_send_line(1, "reverse_socket")
params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation params_mult = socket_read_binary_integer(6+1, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
if params_mult[0] > 0: if params_mult[0] > 0:
keepalive = params_mult[7] keepalive = params_mult[7]