Closed itfanr closed 5 years ago
Are you specifically asking about the LowBandwidthTrajectoryFollower
?
As this is not an actual issue with the package in this repository, but a general question about an implementation detail, I'm going to close this issue.
You may keep commenting on it of course.
@gavanderhoorn Thank you all the same.
If you have known about this, could you tell me the implementation detail ?
You haven't answered my question:
Are you specifically asking about the
LowBandwidthTrajectoryFollower
?
@gavanderhoorn I want know the function how does bool LowBandwidthTrajectoryFollower::execute
send the command to real UR robot with 30001 port. I didnot find the code.
@gavanderhoorn It must call URCommander or some code. But I cannot figure it out.
I have read the code on kinetic-devel branch and I am confused about the code :
The server with 50001 port reads the packets data and deals with it:
In URServer class:
How does packet send to the robot? I can only find the code above. And I cannot find it is convert to URCommander. Or, can you show me the architecture about the process?
Thank you.