Modifying the driver so that it can work when run from a different directory...

Modifying the driver so that it can work when run from a different directory than the containing package

ur5_bringup/ur5.launch

@@ -5,11 +5,11 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
   <!-- driver -->
-  <node name="ur5_driver" pkg="ur5_driver" type="driver.py" />
+  <node name="ur5_driver" pkg="ur5_driver" type="driver.py" args="ur5" output="screen" />
    
   <!-- TF Buffer Server -->
   <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server" output="screen">
     <param name="buffer_size" value="120.0"/>
   </node>
 
-</launch>
\ No newline at end of file
+</launch>

ur5_driver/driver.py

@@ -523,7 +523,7 @@ def main():
     thread_commander.daemon = True
     thread_commander.start()
 
-    with open('prog') as fin:
+    with open(roslib.packages.get_pkg_dir('ur5_driver') + '/prog') as fin:
         program = fin.read() % {"driver_hostname": socket.getfqdn()}
     connection = UR5Connection(robot_hostname, PORT, program)
     connection.connect()