Obbart/universal_robots_ros_driver
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RTPublisher main

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This commit is contained in:
Simon Rasmussen
2017-02-16 22:52:19 +01:00
parent 70cfe6cad3
commit f8be2834b0
1 changed files with 1 additions and 19 deletions
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20
src/ros_main.cpp
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@@ -47,7 +47,6 @@ bool parse_args(ProgArgs& args)
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
ros::init(argc, argv, "ur_driver"); ros::init(argc, argv, "ur_driver");
ProgArgs args; ProgArgs args;
@@ -56,28 +55,11 @@ int main(int argc, char** argv)
} }
URFactory factory(args.host); URFactory factory(args.host);
auto parser = factory.get_rt_parser(); auto parser = factory.get_rt_parser();
URStream s2(args.host, 30003); URStream s2(args.host, 30003);
URProducer<RTPacket> p2(s2, *parser); URProducer<RTPacket> p2(s2, *parser);
RTPublisher pub(args.prefix, args.base_frame, args.tool_frame);
/*
p2.setup_producer();
while(true) {
std::vector<unique_ptr<IConsumable<URRTPacketConsumer>>> products;
p2.try_get(products);
for(auto const& p : products) {
LOG_INFO("Got packet! %x", p.get());
}
products.clear();
}
p2.teardown_producer();
*/
RTPublisher pub(args.prefix, args.base_frame);
Pipeline<RTPacket> pl(p2, pub); Pipeline<RTPacket> pl(p2, pub);