From 1996a821027980f4456a746fd7cfa1f8f298e371 Mon Sep 17 00:00:00 2001
From: Stuart Glaser <sglaser@willowgarage.com>
Date: Thu, 29 Mar 2012 16:23:43 -0700
Subject: [PATCH] Parses the robot hostname from the command line
---
ur5_driver/driver.py | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/ur5_driver/driver.py b/ur5_driver/driver.py
index 030dc6d..7c0484d 100755
--- a/ur5_driver/driver.py
+++ b/ur5_driver/driver.py
@@ -6,6 +6,7 @@ import datetime
import socket, select
import struct
import traceback, code
+import optparse
import SocketServer
import rospy
@@ -14,8 +15,6 @@ from sensor_msgs.msg import JointState
from control_msgs.msg import FollowJointTrajectoryAction
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
-HOSTNAME='ur-xx'
-HOSTNAME="10.0.1.20"
PORT=30001
MSG_OUT = 1
@@ -388,6 +387,13 @@ def main():
rospy.logfatal("use_sim_time is set!!!")
sys.exit(1)
+ # Parses command line arguments
+ parser = optparse.OptionParser(usage="usage: %prog robot_hostname")
+ (options, args) = parser.parse_args(rospy.myargv()[1:])
+ if len(args) != 1:
+ parser.error("You must specify the robot hostname")
+ robot_hostname = args[0]
+
# Sets up the server for the robot to connect to
server = TCPServer(("", 50001), CommanderTCPHandler)
thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever)
@@ -408,7 +414,7 @@ def main():
rospy.loginfo("Programming the robot")
while True:
# Sends the program to the robot
- sock = socket.create_connection((HOSTNAME, PORT))
+ sock = socket.create_connection((robot_hostname, PORT))
with open('prog') as fin:
program = fin.read()
sock.sendall(program % {"driver_hostname": socket.getfqdn()})
--
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