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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Driver: add default port for IO server to launch file (alternative to #483) #484

Closed gavanderhoorn closed 2 years ago

gavanderhoorn commented 2 years ago

Altered the implementation proposed in #483 slightly to not hard-code the default value, but expose it as a parameter.

This is a slight divergence from the other nodes in motoman_driver (as they don't support configurable port numbers), but the io_relay is a more recent addition, and does support this.

gavanderhoorn commented 2 years ago

As mentioned in the commit comment: thanks @cjue for the initial work (in #483).

I preferred to use separate commits (and PRs) for the two disjoint changes proposed in that PR.

gavanderhoorn commented 2 years ago

Let me know if this is an acceptable alternative @cjue.

cjue commented 2 years ago

Looks good to me.

For everyone else, the motivation for this and #483 is to avoid the Failed to get '~port' parameter: using default (50242) warning that was previously always shown.

gavanderhoorn commented 2 years ago

Merged without additional review, as I'd already reviewed #483 and @cjue vetted my adaptation.