Obbart/universal_robots_ros_driver
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Fixed minor issues

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This commit is contained in:
Simon Rasmussen
2017-04-15 01:45:29 +02:00
parent dd8169d371
commit b4bb424058
7 changed files with 58 additions and 46 deletions
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23
src/ros_main.cpp
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@@ -6,10 +6,10 @@
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/pipeline.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ros/mb_publisher.h"
#include "ur_modern_driver/ros/io_service.h"
#include "ur_modern_driver/ros/mb_publisher.h"
#include "ur_modern_driver/ros/ros_controller.h"
#include "ur_modern_driver/ros/rt_publisher.h"
#include "ur_modern_driver/ur/commander.h"
#include "ur_modern_driver/ur/factory.h"
#include "ur_modern_driver/ur/messages.h"
@@ -58,7 +58,7 @@ bool parse_args(ProgArgs& args)
ros::param::param(PREFIX_ARG, args.prefix, std::string());
ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link");
ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller");
ros::param::get(JOINT_NAMES_PARAM, args.joint_names);
ros::param::get(JOINT_NAMES_PARAM, args.joint_names);
return true;
}
@@ -75,32 +75,29 @@ int main(int argc, char** argv)
}
URFactory factory(args.host);
//RT packets
// RT packets
auto rt_parser = factory.getRTParser();
URStream rt_stream(args.host, UR_RT_PORT);
URProducer<RTPacket> rt_prod(rt_stream, *rt_parser);
RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame);
EventCounter rt_ec;
RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame, args.use_ros_control);
URCommander rt_commander(rt_stream);
vector<IConsumer<RTPacket>*> rt_vec;
vector<IConsumer<RTPacket>*> rt_vec{ &rt_pub };
if(args.use_ros_control)
if (args.use_ros_control)
{
LOG_INFO("ROS control enabled");
rt_vec.push_back(new ROSController(rt_commander, args.joint_names));
}
//rt_vec.push_back(&rt_pub);
MultiConsumer<RTPacket> rt_cons(rt_vec);
Pipeline<RTPacket> rt_pl(rt_prod, rt_cons);
//Message packets
// Message packets
auto state_parser = factory.getStateParser();
URStream state_stream(args.host, UR_SECONDARY_PORT);
URProducer<StatePacket> state_prod(state_stream, *state_parser);
MBPublisher state_pub;
vector<IConsumer<StatePacket>*> state_vec{&state_pub};
vector<IConsumer<StatePacket>*> state_vec{ &state_pub };
MultiConsumer<StatePacket> state_cons(state_vec);
Pipeline<StatePacket> state_pl(state_prod, state_cons);