Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 19:10:47 +02:00
Code Releases Activity

extended SetIO service to correctly set configurable and tool digital output

Browse Source
This commit is contained in:
Tristan Schnell
2019-08-01 12:54:39 +02:00
parent 02fac9cec0
commit c6a5df9fdc
3 changed files with 15 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -547,7 +547,15 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse
{
if (req.fun == req.FUN_SET_DIGITAL_OUT)
{
res.success = ur_driver_->getRTDEWriter().sendStandardDigitalOutput(req.pin, req.state);
if (req.pin <= 7)
{
res.success = ur_driver_->getRTDEWriter().sendStandardDigitalOutput(req.pin, req.state);
} else if (req.pin <= 15)
{
res.success = ur_driver_->getRTDEWriter().sendConfigurableDigitalOutput(req.pin-8, req.state);
} else {
res.success = ur_driver_->getRTDEWriter().sendToolDigitalOutput(req.pin-16, req.state);
}
}
else if (req.fun == req.FUN_SET_ANALOG_OUT)
{