Obbart/universal_robots_ros_driver
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Tested and bugfixed masterboard data parsing

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This commit is contained in:
Thomas Timm Andersen
2015-09-16 13:38:21 +02:00
parent 699bc08ac6
commit fb95d2188d
7 changed files with 84 additions and 47 deletions
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9
src/ur_ros_wrapper.cpp
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@@ -51,6 +51,7 @@ protected:
ros::ServiceServer io_srv_;
ros::ServiceServer payload_srv_;
std::thread* rt_publish_thread_;
std::thread* mb_publish_thread_;
double io_flag_delay_;
double max_velocity_;
std::vector<double> joint_offsets_;
@@ -111,7 +112,7 @@ public:
//subscribe to the data topic of interest
speed_sub_ = nh_.subscribe("joint_speed", 1,
&RosWrapper::speedInterface, this);
urscript_sub_ = nh_.subscribe("ur_driver/URSCcript", 1,
urscript_sub_ = nh_.subscribe("ur_driver/URScript", 1,
&RosWrapper::urscriptInterface, this);
io_srv_ = nh_.advertiseService("ur_driver/set_io", &RosWrapper::setIO,
@@ -121,6 +122,8 @@ public:
rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this));
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));
ROS_INFO("The action server for this driver has been started");
}
@@ -369,7 +372,7 @@ private:
}
}
void publishMsg() {
void publishMbMsg() {
ros::Publisher io_pub = nh_.advertise<ur_msgs::IOStates>("/io_states",
1);
@@ -381,7 +384,7 @@ private:
msg_cond_.wait(locker);
}
for (unsigned int i = 0; i < 10; i++) {
for (unsigned int i = 0; i < 18; i++) {
ur_msgs::Digital digi;
digi.pin = i;
digi.state =