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UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
Apache License 2.0
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Script command port #582

Closed miguelprada closed 1 year ago

miguelprada commented 1 year ago

I suddenly started having issues in a dual-UR setup in our lab. After a bit of digging, I found that a new reverse connection from the robot to the PC was "recently" added to the client library. Since this new port is not configurable at the ROS driver level, it's currently impossible to run multi-UR ROS setups without all but one UR driver failing to initialize because of port collisions.

This PR adds this new parameter to the ROS driver node to allow configuring the port to use. It also uses the new zeroFTSensor method in UrDriver, which has the benefit of working both when Polyscope is in Local or Remote modes. I was not so sure of how the new setToolVoltage and setPayload in UrDriver could be used from the ROS driver, so I did nothing with those.

miguelprada commented 1 year ago

And obviously, there was already #567 to fix this. Sorry for not doing my homework :sweat_smile:

gavanderhoorn commented 1 year ago

And obviously, there was already #567 to fix this.

could be, but your PR is (subjectively) cleaner :)

miguelprada commented 1 year ago

could be, but your PR is (subjectively) cleaner :)

Appreciate your comment, but since the other one came first and packed more features, I reasoned it was logical to close this one. I'm glad that taking some time to make meaningful commits made it easy to cherry pick and combine both.