From df440640f34324e2fdcec0cd04ca2dc0b8457936 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 30 Sep 2014 13:33:37 +0000
Subject: [PATCH] fix access to last_joint_states
---
ur_driver/src/ur_driver/driver.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index c2a594e..469e523 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -323,6 +323,7 @@ class URConnectionRT(object):
self.robot_state = self.DISCONNECTED
def __on_packet(self, buf):
+ global last_joint_states, last_joint_states_lock
now = rospy.get_rostime()
stateRT = RobotStateRT.unpack(buf)
self.last_stateRT = stateRT
@@ -398,6 +399,7 @@ def getConnectedRobot(wait=False, timeout=-1):
class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def recv_more(self):
+ global last_joint_states, last_joint_states_lock
while True:
r, _, _ = select.select([self.request], [], [], 0.2)
if r:
@@ -411,7 +413,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
last_joint_states.header.stamp < now - rospy.Duration(1.0):
rospy.logerr("Stopped hearing from robot (last heard %.3f sec ago). Disconnected" % \
(now - last_joint_states.header.stamp).to_sec())
- #raise EOF()
+ raise EOF()
def handle(self):
self.socket_lock = threading.Lock()
@@ -531,6 +533,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
# Returns the last JointState message sent out
def get_joint_states(self):
+ global last_joint_states, last_joint_states_lock
return last_joint_states
--
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