Added a Getter for the RTDE output recipe to be used in the hardware interface

Author: t-schnell

ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h

@@ -125,6 +125,16 @@ class RTDEClient
    */
   RTDEWriter& getWriter();
 
+  /*!
+   * \brief Getter for the RTDE output recipe.
+   *
+   * \returns The output recipe
+   */
+  std::vector<std::string> getOutputRecipe()
+  {
+    return output_recipe_;
+  }
+
 private:
   comm::URStream<PackageHeader> stream_;
   std::vector<std::string> output_recipe_;

ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h

@@ -173,6 +173,13 @@ class UrDriver
    */
   bool sendRobotProgram();
 
+  /*!
+   * \brief Getter for the RTDE output recipe used in the RTDE client.
+   *
+   * \returns The used RTDE output recipe
+   */
+  std::vector<std::string> getRTDEOutputRecipe();
+
 private:
   std::string readScriptFile(const std::string& filename);
   std::string readKeepalive();

ur_robot_driver/src/ur/ur_driver.cpp

@@ -291,4 +291,9 @@ bool UrDriver::sendRobotProgram()
     return false;
   }
 }
+
+std::vector<std::string> UrDriver::getRTDEOutputRecipe()
+{
+  return rtde_client_->getOutputRecipe();
+}
 }  // namespace ur_driver