From 8184387989f5cdd03623c705d99542f0e14004e4 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Wed, 23 Apr 2014 13:58:12 +0200
Subject: [PATCH] some fixes
---
ur_driver/prog | 2 +-
ur_driver/src/ur_driver/driver.py | 7 +++----
2 files changed, 4 insertions(+), 5 deletions(-)
diff --git a/ur_driver/prog b/ur_driver/prog
index 420fcaa..a21a01f 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -1,6 +1,6 @@
def driverProg():
HOSTNAME = "%(driver_hostname)s"
- PORT = driver_reverseport
+ PORT = %(driver_reverseport)d
MSG_OUT = 1
MSG_QUIT = 2
MSG_JOINT_STATES = 3
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 6c6caa6..bf52483 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -668,7 +668,7 @@ def main():
(options, args) = parser.parse_args(rospy.myargv()[1:])
if len(args) < 1:
parser.error("You must specify the robot hostname")
- elif len(args == 1:
+ elif len(args) == 1:
robot_hostname = args[0]
reverse_port = REVERSE_PORT
elif len(args) == 2:
@@ -687,14 +687,13 @@ def main():
max_velocity = rospy.get_param("~max_velocity", 2.0)
# Sets up the server for the robot to connect to
- server = TCPServer(("", REVERSE_PORT), CommanderTCPHandler)
+ server = TCPServer(("", reverse_port), CommanderTCPHandler)
thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever)
thread_commander.daemon = True
thread_commander.start()
with open(roslib.packages.get_pkg_dir('ur_driver') + '/prog') as fin:
- program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, reverse_port)}
- program = fin.read() % {"driver_reverseport": reverse_port}
+ program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, reverse_port), "driver_reverseport": reverse_port}
connection = URConnection(robot_hostname, PORT, program)
connection.connect()
connection.send_reset_program()
--
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