Obbart/universal_robots_ros_driver
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This commit is contained in:
Simon Rasmussen
2017-07-07 15:26:39 +02:00
parent 0479c047d3
commit f35f40b45d
12 changed files with 114 additions and 71 deletions
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12
src/ros_main.cpp
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@@ -74,7 +74,11 @@ bool parse_args(ProgArgs &args)
return true;
}
#include "ur_modern_driver/ur/server.h"
std::string getLocalIPAccessibleFromHost(std::string& host)
{
URStream stream(host, UR_RT_PORT);
return stream.connect() ? stream.getIP() : std::string();
}
int main(int argc, char **argv)
{
@@ -86,9 +90,9 @@ int main(int argc, char **argv)
return EXIT_FAILURE;
}
std::string local_ip(getLocalIPAccessibleFromHost(args.host));
URFactory factory(args.host);
vector<Service*> services;
// RT packets
@@ -99,7 +103,7 @@ int main(int argc, char **argv)
auto rt_commander = factory.getCommander(rt_stream);
vector<IConsumer<RTPacket> *> rt_vec{&rt_pub};
TrajectoryFollower traj_follower(*rt_commander, args.reverse_port, factory.isVersion3());
TrajectoryFollower traj_follower(*rt_commander, local_ip, args.reverse_port, factory.isVersion3());
ROSController *controller(nullptr);
ActionServer *action_server(nullptr);