From e63de16225724bbb223b88e97d58427bc764a739 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 18 Jul 2019 11:12:44 +0200 Subject: [PATCH] move calibration check to earlier time Otherwise it blocks reading RTDE data. --- ur_rtde_driver/src/ur/ur_driver.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp index b3b885f..3df1fcb 100644 --- a/ur_rtde_driver/src/ur/ur_driver.cpp +++ b/ur_rtde_driver/src/ur/ur_driver.cpp @@ -60,6 +60,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc LOG_DEBUG("Initializing RTDE client"); rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, recipe_file)); + LOG_INFO("Checking if calibration data matches connected robot."); + checkCalibration(calibration_checksum); + if (!rtde_client_->init()) { throw UrException("Initialization of RTDE client went wrong."); @@ -70,8 +73,6 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc std::string local_ip = rtde_client_->getIP(); - LOG_INFO("Checking if calibration data matches connected robot."); - checkCalibration(calibration_checksum); uint32_t reverse_port = 50001; // TODO: Make this a parameter uint32_t script_sender_port = 50002; // TODO: Make this a parameter