Obbart/universal_robots_ros_driver
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Parameter parsing

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This commit is contained in:
Simon Rasmussen
2017-07-07 19:15:35 +02:00
parent f3e11bfc29
commit e4560097c8
1 changed files with 8 additions and 5 deletions
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13
src/ros/trajectory_follower.cpp
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@@ -74,6 +74,11 @@ TrajectoryFollower::TrajectoryFollower(URCommander &commander, std::string& reve
, servoj_gain_(300.)
, server_(reverse_port)
{
ros::param::get("~servoj_time", servoj_time_);
ros::param::get("~servoj_lookahead_time", servoj_lookahead_time_);
ros::param::get("~servoj_gain", servoj_gain_);
std::string res(POSITION_PROGRAM);
res.replace(res.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
@@ -83,17 +88,15 @@ TrajectoryFollower::TrajectoryFollower(URCommander &commander, std::string& reve
out << ", lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
res.replace(res.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
res.replace(res.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), reverse_ip);
res.replace(res.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port_));
program_ = res;
if(!server_.bind())
{
LOG_ERROR("Failed to bind server, the port %d is likely already in use", reverse_port);
std::exit(-1);
}
res.replace(res.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), reverse_ip);
res.replace(res.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port_));
program_ = res;
}
bool TrajectoryFollower::start()