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

Added test executable

Browse Source
This commit is contained in:
Felix Mauch
2019-04-09 18:24:57 +02:00
parent 51ac7ddb91
commit bf8d69e219
2 changed files with 63 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
CMakeLists.txt
View File

@@ -90,6 +90,12 @@ add_library(ur_rtde_driver
target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(producer
src/producer.cpp
)
target_link_libraries(producer ${catkin_LIBRARIES} ur_rtde_driver)
add_dependencies(producer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS ur_rtde_driver
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

57
src/producer.cpp Normal file
View File

@@ -0,0 +1,57 @@
// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Mauch mauch@fzi.de
* \date 2018-12-11
*
*/
//----------------------------------------------------------------------
#include <ur_rtde_driver/comm/producer.h>
#include <ur_rtde_driver/comm/shell_consumer.h>
#include <ur_rtde_driver/comm/stream.h>
#include <ur_rtde_driver/comm/parser.h>
#include <ur_rtde_driver/comm/pipeline.h>
#include <ur_rtde_driver/primary/package_header.h>
#include <ur_rtde_driver/primary/primary_parser.h>
static const int UR_PRIMARY_PORT = 30001;
static const int UR_SECONDARY_PORT = 30002;
static const int UR_RT_PORT = 30003;
using namespace ur_driver;
using namespace primary_interface;
int main(int argc, char* argv[])
{
std::string ROBOT_IP = "192.168.56.101";
// std::string ROBOT_IP = "192.168.0.104";
comm::URStream<PackageHeader> stream(ROBOT_IP, UR_PRIMARY_PORT);
if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
{
ros::console::notifyLoggerLevelsChanged();
}
primary_interface::PrimaryParser parser;
comm::URProducer<PackageHeader> prod(stream, parser);
comm::ShellConsumer<PackageHeader> consumer;
comm::INotifier notifier;
comm::Pipeline<PackageHeader> pipeline(prod, consumer, "Pipeline", notifier);
LOG_INFO("Running now");
pipeline.run();
while (true)
{
sleep(1);
// LOG_INFO("Still running");
}
return 0;
}