Obbart/universal_robots_ros_driver
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Added IO and payload service

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 10:37:52 +02:00
parent daa05e5004
commit b98e57a475
3 changed files with 101 additions and 29 deletions
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7
include/ur_modern_driver/ur_driver.h
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@@ -26,7 +26,6 @@ public:
UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
std::vector<std::string> joint_names,
unsigned int safety_count_max = 12);
void start();
void halt();
@@ -44,6 +43,12 @@ public:
std::vector<std::string> getJointNames();
void setJointNames(std::vector<std::string> jn);
void setToolVoltage(unsigned int v);
void setFlag(unsigned int n, bool b);
void setDigitalOut(unsigned int n, bool b);
void setAnalogOut(unsigned int n, double f);
void setPayloaf(double m);
};
#endif /* UR_DRIVER_H_ */