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

Implemented communication on port 30001 and 30002 - untested

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-15 17:03:39 +02:00
parent b5a687a54a
commit cb18dd1d96
7 changed files with 26 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/ur_driver.cpp
View File

@@ -11,13 +11,14 @@
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
UrDriver::UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max, double max_time_step, double min_payload,
double max_payload) :
maximum_time_step_(max_time_step), minimum_payload_(min_payload), maximum_payload_(
max_payload) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);
sec_interface_ = new UrCommunication(msg_cond, host);
}
@@ -96,10 +97,13 @@ void UrDriver::stopTraj() {
}
void UrDriver::start() {
sec_interface_->start();
rt_interface_->robot_state_->setVersion(sec_interface_->robot_state_->getVersion());
rt_interface_->start();
}
void UrDriver::halt() {
sec_interface_->halt();
rt_interface_->halt();
}