Obbart/universal_robots_ros_driver
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Implemented communication on port 30001 and 30002 - untested

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Thomas Timm Andersen
2015-09-15 17:03:39 +02:00
parent b5a687a54a
commit cb18dd1d96
7 changed files with 26 additions and 8 deletions
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3
include/ur_modern_driver/robot_state_RT.h
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@@ -94,6 +94,9 @@ public:
double getVRobot();
double getIRobot();
bool getNewDataAvailable();
void setVersion(double ver);
void finishedReading();
std::vector<double> getVActual();
void unpack(uint8_t * buf);

4
include/ur_modern_driver/ur_driver.h
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@@ -15,6 +15,7 @@
#include <mutex>
#include <condition_variable>
#include "ur_realtime_communication.h"
#include "ur_communication.h"
#include <vector>
#include <math.h>
#include <string>
@@ -27,8 +28,9 @@ private:
std::vector<std::string> joint_names_;
public:
UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12, double max_time_step = 0.08,
double min_payload = 0., double max_payload = 1.);
void start();