Obbart/universal_robots_ros_driver
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Introduce UrException as exception base class

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This commit is contained in:
Felix Mauch
2019-06-11 10:25:50 +02:00
parent 48103aca49
commit c88022eefd
3 changed files with 57 additions and 3 deletions
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3
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -32,6 +32,7 @@
#include "ur_rtde_driver/ur/ur_driver.h"
#include "ur_rtde_driver/primary/package_header.h"
#include "ur_rtde_driver/exceptions.h"
#include <memory>
namespace ur_driver
@@ -51,7 +52,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
if (!rtde_client_->init())
{
throw std::runtime_error("initialization went wrong"); // TODO: be less harsh
throw UrException("Initialization of RTDE client went wrong.");
}
rtde_frequency_ = rtde_client_->getMaxFrequency();