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

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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
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6
src/ur_realtime_communication.cpp
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@@ -43,8 +43,8 @@ void UrRealtimeCommunication::start() {
keepalive_ = true;
if (connect(sockfd_, (struct sockaddr *) &serv_addr_, sizeof(serv_addr_))
< 0)
printf("Error connecting");
printf("connecting...\n");
printf("Error connecting to RT port 30003");
printf("Realtime port: Connecting...\n");
comThread_ = std::thread(&UrRealtimeCommunication::run, this);
}
@@ -78,7 +78,7 @@ void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
void UrRealtimeCommunication::run() {
uint8_t buf[2048];
bzero(buf, 2048);
printf("Got connection\n");
printf("Realtime port: Got connection\n");
connected_ = true;
while (keepalive_) {
read(sockfd_, buf, 2048);