Investigate switching to 'read only' interfaces

ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots

Apache License 2.0

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Investigate switching to 'read only' interfaces #333

Closed gavanderhoorn closed 4 years ago

gavanderhoorn commented 5 years ago

According to Overview of client interfaces - 21744 in the UR KB, there are read-only versions of the primary, secondary and real-time interfaces:

30001  Primary
30002  Secondary
30003  Real-time

30011  Primary read only
30012  Secondary read only
30013  Real-time read only

I've not verified whether these ports are open on all controller/polyscope versions, but seeing as the driver doesn't need write access to all of these, it might be good to switch to the read-only version of some of these.

gavanderhoorn commented 4 years ago

I'm closing this as we've officially deprecated this package.

Refer to the announcement on ROS Discourse.