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Fix ROS_Stateserver*.mod #35

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Fix ROS_Stateserver*.mod #35

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10 changes: 5 additions & 5 deletions yumi_hw/rapid/ABB_driver/ROS_stateServer_left.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

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10 changes: 5 additions & 5 deletions yumi_hw/rapid/ABB_driver/ROS_stateServer_right.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

Expand Down