Grasp 13036 do not open a duplicate websocket when initialising rws 2 adapter

NoMagicAi / abb_librws

A C++ library for interfacing with ABB robot controllers supporting Robot Web Services

BSD 3-Clause "New" or "Revised" License

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Grasp 13036 do not open a duplicate websocket when initialising rws 2 adapter #53

Closed krzyfre closed 2 years ago

krzyfre commented 2 years ago

Jira task

Is accompanied by: https://github.com/NoMagicAi/monomagic/pull/10021

Intent is to reduce the number of websockets per RWS conneciton. According to information from ABB R&D having multiple websocket connections causes stability issues.

Review

Review: @mkatliar @michalk-1

mkatliar commented 1 year ago

Several bugs were introduced by these changes that were not detected: https://nomagic.atlassian.net/browse/RMSTRNG-908 https://nomagic.atlassian.net/browse/RMSTRNG-911

One should always run nomagic_abb_driver-integration-test and rosrun nomagic_abb_driver driver.test!