Added additional waitForService for dashboard service

Felix Exner · Felix Exner · commit 5786cee81a0f · 2020-05-12T13:29:13.000+02:00
diff --git a/ur_robot_driver/src/ros/robot_state_helper.cpp b/ur_robot_driver/src/ros/robot_state_helper.cpp
@@ -57,6 +57,7 @@ RobotStateHelper::RobotStateHelper(const ros::NodeHandle& nh)
   // Service to start UR program execution on the robot
   play_program_srv_ = nh_.serviceClient<std_srvs::Trigger>("dashboard/play");
 
+  play_program_srv_.waitForExistence();
   set_mode_as_.registerGoalCallback(std::bind(&RobotStateHelper::setModeGoalCallback, this));
   set_mode_as_.registerPreemptCallback(std::bind(&RobotStateHelper::setModePreemptCallback, this));
 }

Original file line number	Diff line number	Diff line change
`@@ -57,6 +57,7 @@ RobotStateHelper::RobotStateHelper(const ros::NodeHandle& nh)`
`57`	`57`	`// Service to start UR program execution on the robot`
`58`	`58`	`play_program_srv_ = nh_.serviceClient<std_srvs::Trigger>("dashboard/play");`
`59`	`59`
	`60`	`+ play_program_srv_.waitForExistence();`
`60`	`61`	`set_mode_as_.registerGoalCallback(std::bind(&RobotStateHelper::setModeGoalCallback, this));`
`61`	`62`	`set_mode_as_.registerPreemptCallback(std::bind(&RobotStateHelper::setModePreemptCallback, this));`
`62`	`63`	`}`