From 58389590755f71d659ba8f56850c115021d83597 Mon Sep 17 00:00:00 2001
From: Stuart Glaser <sglaser@willowgarage.com>
Date: Thu, 29 Mar 2012 14:35:44 -0700
Subject: [PATCH] Driver program informs robot of correct hostname
---
ur5_driver/driver.py | 3 ++-
ur5_driver/prog | 2 +-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/ur5_driver/driver.py b/ur5_driver/driver.py
index e3983e3..058d483 100755
--- a/ur5_driver/driver.py
+++ b/ur5_driver/driver.py
@@ -413,7 +413,8 @@ def main():
# Sends the program to the robot
sock = socket.create_connection((HOSTNAME, PORT))
with open('prog') as fin:
- sock.sendall(fin.read())
+ program = fin.read()
+ sock.sendall(program % {"driver_hostname": socket.getfqdn()})
if False:
print "Dump"
diff --git a/ur5_driver/prog b/ur5_driver/prog
index 92bac48..a16b34e 100644
--- a/ur5_driver/prog
+++ b/ur5_driver/prog
@@ -1,5 +1,5 @@
def driverProg():
- HOSTNAME = "10.0.2.97"
+ HOSTNAME = "%(driver_hostname)s"
MSG_OUT = 1
MSG_QUIT = 2
MSG_JOINT_STATES = 3
--
GitLab