Obbart/universal_robots_ros_driver
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Fixed bug for RT message garbage in 3.0

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Thomas Timm Andersen
2015-09-16 16:24:29 +02:00
parent a48642f1aa
commit d866036fa4
1 changed files with 3 additions and 2 deletions
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5
src/robot_state_RT.cpp
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@@ -304,8 +304,9 @@ void RobotStateRT::unpack(uint8_t * buf) {
offset += sizeof(len); offset += sizeof(len);
len = ntohl(len); len = ntohl(len);
if (version_ < 3.1 & len > 1044) { if (version_ < 3.1 & len != 1044) {
//In 3.0, every 3rd? package is malformed...? //In 3.0, every 4th? package is malformed...?
//printf("Len: %i\n", len);
val_lock_.unlock(); val_lock_.unlock();
return; return;
} }