Obbart/universal_robots_ros_driver
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Code Releases Activity

move calibration check to earlier time

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Otherwise it blocks reading RTDE data.
This commit is contained in:
Felix Mauch
2019-07-18 11:12:44 +02:00
parent 8166bf3d67
commit e63de16225
1 changed files with 3 additions and 2 deletions
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5
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -60,6 +60,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
LOG_DEBUG("Initializing RTDE client"); LOG_DEBUG("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip_, notifier_, recipe_file)); 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()) if (!rtde_client_->init())
{ {
throw UrException("Initialization of RTDE client went wrong."); 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(); 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 reverse_port = 50001; // TODO: Make this a parameter
uint32_t script_sender_port = 50002; // TODO: Make this a parameter uint32_t script_sender_port = 50002; // TODO: Make this a parameter