search

ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
156 stars 181 forks source link

robot_client: add support for configurable TCP ports to nodes #95

Closed gavanderhoorn closed 9 years ago

gavanderhoorn commented 10 years ago

This should be relatively straight-forward, as the motoman_driver nodes already support this (see robot_state_interface.cpp fi).

A port parameter should be read from the nodes' private namespaces, and should specify the TCP port to connect to on the controller, instead of hard coding it.

gavanderhoorn commented 9 years ago

Don't know how I missed this, but this seems to be already supported, see industrial_robot_client/joint_trajectory_interface.cpp, lines 56 to 74 and industrial_robot_client/robot_state_interface.cpp, lines 56 to 74.

Seems #37 is still relevant.