Obbart/universal_robots_ros_driver
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Upload URScript via primary interface

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Note: This will probably be changed later, but currently that's the
easiest way to handle this.
This commit is contained in:
Felix Mauch
2019-04-11 18:08:34 +02:00
parent 4c0aea4c4f
commit d7f065a22d
7 changed files with 103 additions and 5 deletions
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2
include/ur_rtde_driver/comm/stream.h
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@@ -49,7 +49,7 @@ public:
* \param host IP address of the remote host
* \param port Port on which the socket shall be connected
*/
URStream(std::string& host, int port) : host_(host), port_(port)
URStream(const std::string& host, int port) : host_(host), port_(port)
{
}

4
include/ur_rtde_driver/ur/ur_driver.h
View File

@@ -26,6 +26,7 @@
//----------------------------------------------------------------------
#include "ur_rtde_driver/rtde/rtde_client.h"
#include "ur_rtde_driver/comm/reverse_interface.h"
namespace ur_driver
{
@@ -60,10 +61,13 @@ public:
return rtde_frequency_;
}
bool writeJointCommand(const vector6d_t& values);
private:
//! This frequency is used for the rtde interface. By default, it will be 125Hz on CB3 and 500Hz on the e-series.
uint32_t rtde_frequency_;
comm::INotifier notifier_;
std::unique_ptr<rtde_interface::RTDEClient> rtde_client_;
std::unique_ptr<comm::ReverseInterface> reverse_interface_;
};
} // namespace ur_driver