From 55edc60ea14b1f15e88985d6c6f65c8c38c045b7 Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@willowgarage.com>
Date: Mon, 9 Apr 2012 14:38:47 -0700
Subject: [PATCH] Modifying the driver so that it can work when run from a
different directory than the containing package
---
ur5_bringup/ur5.launch | 4 ++--
ur5_driver/driver.py | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/ur5_bringup/ur5.launch b/ur5_bringup/ur5.launch
index 5bf3568..61c4c9b 100644
--- a/ur5_bringup/ur5.launch
+++ b/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>
diff --git a/ur5_driver/driver.py b/ur5_driver/driver.py
index 2dce552..183224c 100755
--- a/ur5_driver/driver.py
+++ b/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()
--
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