Obbart/universal_robots_ros_driver
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Added stability to reverse connection. Resolves #6

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This commit is contained in:
Thomas Timm Andersen
2015-10-20 13:21:23 +02:00
parent 6c3cade12f
commit f856487e9f
2 changed files with 25 additions and 10 deletions
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7
include/ur_modern_driver/ur_driver.h
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@@ -46,6 +46,7 @@ private:
const unsigned int REVERSE_PORT_;
int incoming_sockfd_;
int new_sockfd_;
bool reverse_connected_;
double servoj_time_;
bool executing_traj_;
public:
@@ -66,15 +67,15 @@ public:
std::vector<double> inp_timestamps, //DEPRECATED
std::vector<std::vector<double> > positions,
std::vector<std::vector<double> > velocities); */
void doTraj(std::vector<double> inp_timestamps,
bool doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities);
void servoj(std::vector<double> positions, int keepalive = 1, double time = 0);
void stopTraj();
void uploadProg();
void openServo();
bool uploadProg();
bool openServo();
void closeServo(std::vector<double> positions);
std::vector<double> interp_cubic(double t, double T,