Obbart/universal_robots_ros_driver
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Added detection of E-stop and protective stop.

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Thomas Timm Andersen
2015-10-09 13:18:38 +02:00
parent 80e344d167
commit d8602c2246
4 changed files with 199 additions and 12 deletions
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src/ur_communication.cpp
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@@ -122,6 +122,7 @@ void UrCommunication::run() {
robot_state_->unpack(buf, bytes_read);
} else {
connected_ = false;
robot_state_->setDisconnected();
close(sec_sockfd_);
}
}