Add ROS param (robot_receive_timeout) to control reverse interface timeouts #745
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Useful when the connection to the robot does not support real-time control
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urfeex
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Apr 16, 2025
| @@ -1354,7 +1359,7 @@ void HardwareInterface::startCartesianInterpolation(const hardware_interface::Ca | |||
| { | |||
| size_t point_number = trajectory.trajectory.points.size(); | |||
| ROS_DEBUG("Starting cartesian trajectory forward"); | |||
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number); | |||
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number, robot_receive_timeout_); | |||
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Same as with the other.
Suggested change
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number, robot_receive_timeout_); | |
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number); |
| @@ -1292,7 +1297,7 @@ void HardwareInterface::startJointInterpolation(const hardware_interface::JointT | |||
| { | |||
| size_t point_number = trajectory.trajectory.points.size(); | |||
| ROS_DEBUG("Starting joint-based trajectory forward"); | |||
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number); | |||
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number, robot_receive_timeout_); | |||
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For trajectory control messages the default value is a lot higher actually, since we can tolerate missing communication for a longer period. Hence, I would suggest not adding it here.
Suggested change
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number, robot_receive_timeout_); | |
| ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, point_number); |
|
@urfeex |
urfeex
reviewed
Apr 16, 2025
|
Okay! |
urfeex
added
requires testing
|
tested and seems to work as expected. |
Merged
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Backport of ROS2 PR UniversalRobots/Universal_Robots_ROS2_Driver#1003
Useful when the connection to the robot does not support real-time control.
If it fixes the issue #507 for me