Obbart/universal_robots_ros_driver
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removed deprecated code

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This commit is contained in:
Felix Mauch
2019-05-20 11:32:31 +02:00
parent 19cb6fa519
commit ec31db35b2
1 changed files with 2 additions and 3 deletions
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5
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -174,9 +174,8 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
{ {
// TODO: This goes into the rtde_client // TODO: This goes into the rtde_client
std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage; std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
uint32_t period_ms = (1.0 / rtde_frequency_) * 1000; std::chrono::milliseconds timeout(100); // We deliberately have a quite large timeout here, as the robot itself
// std::chrono::milliseconds timeout(period_ms); // should command the control loop's timing.
std::chrono::milliseconds timeout(100);
if (rtde_client_->getDataPackage(urpackage, timeout)) if (rtde_client_->getDataPackage(urpackage, timeout))
{ {
rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get()); rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());