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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5
src/ur_ros_wrapper.cpp
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@@ -35,6 +35,7 @@
class RosWrapper {
protected:
UrDriver robot_;
std::condition_variable rt_msg_cond_;
std::condition_variable msg_cond_;
ros::NodeHandle nh_;
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_;
@@ -51,7 +52,7 @@ protected:
public:
RosWrapper(std::string host) :
as_(nh_, "follow_joint_trajectory", false), robot_(msg_cond_, host), io_flag_delay_(
as_(nh_, "follow_joint_trajectory", false), robot_(rt_msg_cond_, msg_cond_, host), io_flag_delay_(
0.05), joint_offsets_(6, 0.0) {
std::string joint_prefix = "";
@@ -327,7 +328,7 @@ private:
std::mutex msg_lock; // The values are locked for reading in the class, so just use a dummy mutex
std::unique_lock<std::mutex> locker(msg_lock);
while (!robot_.rt_interface_->robot_state_->getNewDataAvailable()) {
msg_cond_.wait(locker);
rt_msg_cond_.wait(locker);
}
joint_msg.header.stamp = ros::Time::now();
joint_msg.position =