Obbart/universal_robots_ros_driver
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fix naming conventions

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This commit is contained in:
Felix Mauch
2019-06-06 10:45:05 +02:00
committed by Tristan Schnell
parent 9788504f93
commit e250128d7e
7 changed files with 22 additions and 22 deletions
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4
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -36,7 +36,7 @@
namespace ur_driver
{
static const int32_t MULT_JOINTSTATE_ = 1000000;
static const int32_t MULT_JOINTSTATE = 1000000;
static const std::string JOINT_STATE_REPLACE("{{JOINT_STATE_REPLACE}}");
static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
@@ -67,7 +67,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
uint32_t script_sender_port = 50002; // TODO: Make this a parameter
std::string prog = readScriptFile(script_file);
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE));
std::ostringstream out;
out << "lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());