Obbart/universal_robots_ros_driver
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Factory and setup improvements

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This commit is contained in:
Simon Rasmussen
2017-04-13 10:48:59 +02:00
parent 97add752a1
commit dd8169d371
4 changed files with 145 additions and 14 deletions
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4
include/ur_modern_driver/ur/factory.h
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@@ -9,6 +9,8 @@
#include "ur_modern_driver/ur/state_parser.h"
#include "ur_modern_driver/ur/stream.h"
static const int UR_PRIMARY_PORT = 30001;
class URFactory : private URMessagePacketConsumer
{
private:
@@ -42,7 +44,7 @@ private:
}
public:
URFactory(std::string& host) : stream_(host, 30001)
URFactory(std::string& host) : stream_(host, UR_PRIMARY_PORT)
{
URProducer<MessagePacket> prod(stream_, parser_);
std::vector<unique_ptr<MessagePacket>> results;