From fa7546a1442b4e6663e4ad95657bbe02196b4227 Mon Sep 17 00:00:00 2001
From: Jan Weber <jan.weber@hs-bochum.de>
Date: Mon, 1 Feb 2021 12:14:14 +0100
Subject: [PATCH] Error when reinitializing the EGM interface fixed
---
abb_egm_driver/scripts/driver_test_node.py | 2 +-
abb_egm_driver/src/abb_egm_robot_node.cpp | 13 +++++++++----
2 files changed, 10 insertions(+), 5 deletions(-)
diff --git a/abb_egm_driver/scripts/driver_test_node.py b/abb_egm_driver/scripts/driver_test_node.py
index 501f7f1..4f18dd7 100755
--- a/abb_egm_driver/scripts/driver_test_node.py
+++ b/abb_egm_driver/scripts/driver_test_node.py
@@ -131,7 +131,7 @@ def circle(move_group, robot):
# switched to motion streaming mode when positions are streamed to the robot afterwards.
jtp = trajectory_msgs.msg.JointTrajectoryPoint()
jtp.positions = move_group.get_current_joint_values()
- for _ in range(10):
+ for _ in range(20):
joint_command_publisher.publish(jtp)
rospy.sleep(0.1)
diff --git a/abb_egm_driver/src/abb_egm_robot_node.cpp b/abb_egm_driver/src/abb_egm_robot_node.cpp
index 4fd1f1b..2dc07ac 100644
--- a/abb_egm_driver/src/abb_egm_robot_node.cpp
+++ b/abb_egm_driver/src/abb_egm_robot_node.cpp
@@ -261,12 +261,17 @@ int main(int argc, char** argv)
// Create the RWS interface
if(!egm_interface)
{
- egm_interface = new AbbEgmInterface();
- // Initialize the EGM interface. If it fails, restart RAPID and try again.
+ // Create and initialize the EGM interface. If it fails, delate the interface, restart RAPID and try again.
// After switching on the robot controller, it often happens that the initialization fails.
// This can be fixed by restarting RAPID.
- if(!egm_interface->init()) restartRapid(rws_interface);
- if(!egm_interface->init()) break;
+ egm_interface = new AbbEgmInterface();
+ if(!egm_interface->init())
+ {
+ delete egm_interface;
+ restartRapid(rws_interface);
+ egm_interface = new AbbEgmInterface();
+ if(!egm_interface->init()) break;
+ }
}
// Create the Robot interface
--
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