added payload const

ur_driver/prog

@@ -217,6 +217,8 @@ def driverProg():
         #servoj(q, 3, 0.1, t)
         #send_waypoint_finished(waypoint_id)
         set_servo_setpoint(waypoint_id, q, t)
+      elif mtype == MSG_SET_PAYLOAD:
+	send_out("Received new payload")
       elif mtype == MSG_STOPJ:
         send_out("Received stopj")
         stopj(1.0)

ur_driver/src/ur_driver/driver.py

@@ -46,6 +46,7 @@ MSG_MOVEJ = 4
 MSG_WAYPOINT_FINISHED = 5
 MSG_STOPJ = 6
 MSG_SERVOJ = 7
+MSG_SET_PAYLOAD = 8
 MSG_WRENCH = 9
 MSG_SET_DIGITAL_OUT = 10
 MSG_GET_IO = 11