From c1cf38a8e791942e11be11f21c6c1c0b527df7fa Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Wed, 23 Apr 2014 13:21:28 +0200
Subject: [PATCH] parameterizable reverse_port for multiarmsupport
---
ur_driver/prog | 3 ++-
ur_driver/src/ur_driver/driver.py | 18 +++++++++++++-----
2 files changed, 15 insertions(+), 6 deletions(-)
diff --git a/ur_driver/prog b/ur_driver/prog
index 7b913ab..420fcaa 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -1,5 +1,6 @@
def driverProg():
HOSTNAME = "%(driver_hostname)s"
+ PORT = driver_reverseport
MSG_OUT = 1
MSG_QUIT = 2
MSG_JOINT_STATES = 3
@@ -113,7 +114,7 @@ def driverProg():
end
- socket_open(HOSTNAME, 50001)
+ socket_open(HOSTNAME, PORT)
send_out("hello")
thread_state = run statePublisherThread()
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index cb20f91..6c6caa6 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -664,11 +664,18 @@ def main():
joint_names = [prefix + name for name in JOINT_NAMES]
# Parses command line arguments
- parser = optparse.OptionParser(usage="usage: %prog robot_hostname")
+ parser = optparse.OptionParser(usage="usage: %prog robot_hostname [reverse_port]")
(options, args) = parser.parse_args(rospy.myargv()[1:])
- if len(args) != 1:
+ if len(args) < 1:
parser.error("You must specify the robot hostname")
- robot_hostname = args[0]
+ elif len(args == 1:
+ robot_hostname = args[0]
+ reverse_port = REVERSE_PORT
+ elif len(args) == 2:
+ robot_hostname = args[0]
+ reverse_port = args[1]
+ else:
+ parser.error("Wrong number of parameters")
# Reads the calibrated joint offsets from the URDF
global joint_offsets
@@ -680,13 +687,14 @@ def main():
max_velocity = rospy.get_param("~max_velocity", 2.0)
# Sets up the server for the robot to connect to
- server = TCPServer(("", 50001), 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, PORT)}
+ program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, reverse_port)}
+ program = fin.read() % {"driver_reverseport": reverse_port}
connection = URConnection(robot_hostname, PORT, program)
connection.connect()
connection.send_reset_program()
--
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