Obbart/universal_robots_ros_driver
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Limited the published IO state to 10 for pre 3.0

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Thomas Timm Andersen
2015-09-17 13:29:55 +02:00
parent ff8b5522a2
commit fc219e4eee
1 changed files with 4 additions and 2 deletions
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6
src/ur_ros_wrapper.cpp
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@@ -384,8 +384,10 @@ private:
while (!robot_.sec_interface_->robot_state_->getNewDataAvailable()) { while (!robot_.sec_interface_->robot_state_->getNewDataAvailable()) {
msg_cond_.wait(locker); msg_cond_.wait(locker);
} }
int i_max = 10;
for (unsigned int i = 0; i < 18; i++) { 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; ur_msgs::Digital digi;
digi.pin = i; digi.pin = i;
digi.state = digi.state =