From fc219e4eeecec712f8c1446288658cd5b61721c3 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Thu, 17 Sep 2015 13:29:55 +0200
Subject: [PATCH] Limited the published IO state to 10 for pre 3.0

---
 src/ur_ros_wrapper.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index 7d7f207..f874b46 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -384,8 +384,10 @@ private:
 			while (!robot_.sec_interface_->robot_state_->getNewDataAvailable()) {
 				msg_cond_.wait(locker);
 			}
-
-			for (unsigned int i = 0; i < 18; i++) {
+			int i_max = 10;
+			if (robot_.sec_interface_->robot_state_->getVersion() > 3.0)
+				i_max = 18; // From version 3.0, there are up to 18 inputs and outputs
+			for (unsigned int i = 0; i < i_max; i++) {
 				ur_msgs::Digital digi;
 				digi.pin = i;
 				digi.state =