Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Changed how trajectories are handled to try and speed things up

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-22 10:29:44 +02:00
parent 36c8b70ba0
commit c4af674faa
6 changed files with 291 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/ur_realtime_communication.cpp
View File

@@ -56,12 +56,26 @@ void UrRealtimeCommunication::start() {
printf("Realtime port: Connecting...\n");
#endif
if (connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_))
< 0)
< 0) {
#ifdef ROS_BUILD
ROS_FATAL("Error connecting to RT port 30003");
#else
printf("Error connecting to RT port 30003\n");
#endif
}
sockaddr_in name;
socklen_t namelen = sizeof(name);
int err = getsockname(sockfd_, (sockaddr*) &name, &namelen);
if (err < 0) {
#ifdef ROS_BUILD
ROS_FATAL("Could not get local IP - errno: %d (%s)", errno, strerror(errno));
#else
printf("Could not get local IP - errno: %d (%s)", errno, strerror(errno));
#endif
}
char str[18];
inet_ntop(AF_INET, &name.sin_addr, str, 18);
local_ip_ = str;
comThread_ = std::thread(&UrRealtimeCommunication::run, this);
}
@@ -119,3 +133,6 @@ void UrRealtimeCommunication::setSafetyCountMax(uint inp) {
safety_count_max_ = inp;
}
std::string UrRealtimeCommunication::getLocalIp() {
return local_ip_;
}