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Use UrDriverConfig struct to initialize UrDriver (backport #1328) #1330

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Merged
merged 1 commit into from
Apr 2, 2025
Merged

Use UrDriverConfig struct to initialize UrDriver (backport #1328) #1330

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23 changes: 18 additions & 5 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,11 +522,24 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
registerUrclLogHandler(tf_prefix);
try {
rtde_comm_has_been_started_ = false;
ur_driver_ = std::make_unique<urcl::UrDriver>(
robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
urcl::UrDriverConfiguration driver_config;
driver_config.robot_ip = robot_ip;
driver_config.script_file = script_filename;
driver_config.output_recipe_file = output_recipe_filename;
driver_config.input_recipe_file = input_recipe_filename;
driver_config.headless_mode = headless_mode;
driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
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.non_blocking_read = non_blocking_read_;
driver_config.tool_comm_setup = std::move(tool_comm_setup);
driver_config.handle_program_state =
std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1);
ur_driver_ = std::make_unique<urcl::UrDriver>(driver_config);
} catch (urcl::ToolCommNotAvailable& e) {
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");

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