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
src/ros/hardware_interface.cpp
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@@ -101,7 +101,7 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period)
{
// TODO: Implement
ur_driver_->writeJointCommand(joint_position_command_);
}
bool HardwareInterface ::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,