Fix: primary_configuration_timeout as hardware interface parameter

ur_robot_driver/doc/hardware_interface_parameters.rst

@@ -31,6 +31,11 @@ If set to false, the ROS control cycle will wait for the robot to send a status
 shown that better real-time performance is achievable when setting this to ``true``. Required to be
 set to ``true`` when combining with other hardware components.
 
+primary_configuration_timeout (default: "1000")
+----------------------------------------------------------
+
+Timeout in milliseconds for waiting for primary client configuration data. This parameter controls how long the driver waits for the robot to provide its configuration data during initialization.
+
 output_recipe_filename (Required)
 ---------------------------------
 

ur_robot_driver/src/hardware_interface.cpp

@@ -656,6 +656,9 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   const bool use_tool_communication = (info_.hardware_parameters["use_tool_communication"] == "true") ||
                                       (info_.hardware_parameters["use_tool_communication"] == "True");
 
+  // Timeout for waiting for primary client configuration data
+  const int primary_configuration_timeout = std::stoi(info_.hardware_parameters["primary_configuration_timeout"]);
+
   // Hash of the calibration reported by the robot. This is used for validating the robot
   // description is using the correct calibration. If the robot's calibration doesn't match this
   // hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the
@@ -734,6 +737,7 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
     driver_config.reverse_ip = reverse_ip;
     driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
     driver_config.servoj_lookahead_time = servoj_lookahead_time;
+    driver_config.primary_configuration_timeout =  std::chrono::milliseconds(static_cast<int>(primary_configuration_timeout));
     driver_config.non_blocking_read = non_blocking_read_;
     driver_config.tool_comm_setup = std::move(tool_comm_setup);
     driver_config.handle_program_state =

ur_robot_driver/urdf/ur.ros2_control.xacro

@@ -25,6 +25,7 @@
     script_command_port:=50004
     trajectory_port:=50003
     non_blocking_read:=true
+    primary_configuration_timeout:=1000
     robot_receive_timeout:=0.04
     rw_rate:=0
     ">
@@ -60,6 +61,7 @@
           <param name="trajectory_port">${trajectory_port}</param>
           <param name="tf_prefix">${tf_prefix}</param>
           <param name="non_blocking_read">${non_blocking_read}</param>
+          <param name="primary_configuration_timeout">${primary_configuration_timeout}</param>
           <param name="servoj_gain">2000</param>
           <param name="servoj_lookahead_time">0.03</param>
           <param name="use_tool_communication">${use_tool_communication}</param>

ur_robot_driver/urdf/ur.urdf.xacro

@@ -33,6 +33,7 @@
   <xacro:arg name="reverse_port" default="50001"/>
   <xacro:arg name="script_sender_port" default="50002"/>
   <xacro:arg name="trajectory_port" default="50003"/>
+  <xacro:arg name="primary_configuration_timeout" default="1000"/>
   <!--   tool communication related parameters-->
   <xacro:arg name="use_tool_communication" default="false" />
   <xacro:arg name="tool_voltage" default="0" />
@@ -93,6 +94,7 @@
     tool_device_name="$(arg tool_device_name)"
     tool_tcp_port="$(arg tool_tcp_port)"
     robot_ip="$(arg robot_ip)"
+    primary_configuration_timeout="$(arg primary_configuration_timeout)"
     script_filename="$(arg script_filename)"
     output_recipe_filename="$(arg output_recipe_filename)"
     input_recipe_filename="$(arg input_recipe_filename)"