From 19e122b76fbdd088e0b8cd06efc297bfe16b82fc Mon Sep 17 00:00:00 2001 From: Cesar Sinchiguano Date: Mon, 14 Jan 2019 15:02:06 +0100 Subject: [PATCH] Fix ROS_Stateserver*.mod Set variable inside the rapid server to fix the joint values of both arms. Necessary with RobotWare v 6.06. --- yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod | 10 +++++----- yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod | 10 +++++----- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod b/yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod index cba39a4f..40ec0bf4 100644 --- a/yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod +++ b/yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod @@ -39,7 +39,7 @@ PROC main() TPWrite "StateServer: Waiting for connection."; ROS_init_socket server_socket, server_port; ROS_wait_for_client server_socket, client_socket; - + WHILE (TRUE) DO send_joints; WaitTime update_rate; @@ -59,15 +59,15 @@ ENDPROC LOCAL PROC send_joints() VAR ROS_msg_joint_data message; VAR jointtarget joints; - + ! get current joint position (degrees) - joints := CJointT(); - + joints := CJointT(\TaskName:="T_ROB_L"); + ! create message message.header := [ROS_MSG_TYPE_JOINT, ROS_COM_TYPE_TOPIC, ROS_REPLY_TYPE_INVALID]; message.sequence_id := 0; message.joints := joints; - + ! send message to client ROS_send_msg_joint_data client_socket, message; diff --git a/yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod b/yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod index 02ea8ad8..cda19167 100644 --- a/yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod +++ b/yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod @@ -39,7 +39,7 @@ PROC main() TPWrite "StateServer: Waiting for connection."; ROS_init_socket server_socket, server_port; ROS_wait_for_client server_socket, client_socket; - + WHILE (TRUE) DO send_joints; WaitTime update_rate; @@ -59,15 +59,15 @@ ENDPROC LOCAL PROC send_joints() VAR ROS_msg_joint_data message; VAR jointtarget joints; - + ! get current joint position (degrees) - joints := CJointT(); - + joints := CJointT(\TaskName:="T_ROB_R"); + ! create message message.header := [ROS_MSG_TYPE_JOINT, ROS_COM_TYPE_TOPIC, ROS_REPLY_TYPE_INVALID]; message.sequence_id := 0; message.joints := joints; - + ! send message to client ROS_send_msg_joint_data client_socket, message;