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ros-industrial / abb_driver

(old) ROS driver for ABB IRC5 / RW5 or RW6 controllers (Simple Message & RAPID)
http://wiki.ros.org/abb_driver
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Max trajectory length 100 #20

Closed simonschmeisser closed 1 year ago

simonschmeisser commented 1 year ago

The rapid code contains the magic number of max 100 trajectory points: https://github.com/ros-industrial/abb_driver/blob/f3068b92d9f5550992143f775d110b946ef04551/rapid/ROS_common.sys#L37

We have incremented this number when using this driver but it would be interesting to know of course if there are limits to array size in RAPID or hardware wise?

AFAIR points beyond 100 are skipped with this error message: https://github.com/ros-industrial/abb_driver/blob/f3068b92d9f5550992143f775d110b946ef04551/rapid/ROS_motionServer.mod#L102