From 93160897705ecf941057c8346e74e5e9a8a8cf87 Mon Sep 17 00:00:00 2001
From: Alexandre Lapointe <alexandre.lapointe.4@ens.etsmtl.ca>
Date: Tue, 29 Nov 2022 19:53:00 -0500
Subject: [PATCH 1/2] Updated ovis_arm with new robot ip

---
 kinova_driver/src/kinova_comm.cpp   | 4 +++-
 ovis_bringup/launch/ovis_arm.launch | 2 ++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/kinova_driver/src/kinova_comm.cpp b/kinova_driver/src/kinova_comm.cpp
index 64e229c..ede4f84 100644
--- a/kinova_driver/src/kinova_comm.cpp
+++ b/kinova_driver/src/kinova_comm.cpp
@@ -71,17 +71,19 @@ KinovaComm::KinovaComm(const ros::NodeHandle& node_handle, boost::recursive_mute
   // Set ethernet parameters
   EthernetCommConfig ethernet_settings;
   std::string local_IP, subnet_mask;
+  std::string inet_addr_string;
   int local_cmd_port, local_bcast_port;
   node_handle.getParam("ethernet/local_machine_IP", local_IP);
   node_handle.getParam("ethernet/subnet_mask", subnet_mask);
   node_handle.getParam("ethernet/local_cmd_port", local_cmd_port);
   node_handle.getParam("ethernet/local_broadcast_port", local_bcast_port);
+  node_handle.getParam("robotIpAddress", inet_addr_string);
   ethernet_settings.localCmdport = local_cmd_port;
   ethernet_settings.localBcastPort = local_bcast_port;
   ethernet_settings.localIpAddress = inet_addr(local_IP.c_str());
   ethernet_settings.subnetMask = inet_addr(subnet_mask.c_str());
   ethernet_settings.rxTimeOutInMs = 1000;
-  ethernet_settings.robotIpAddress = inet_addr("192.168.100.11");
+  ethernet_settings.robotIpAddress = inet_addr(inet_addr_string.c_str());
   ethernet_settings.robotPort = 55000;
 
   // Get the serial number parameter for the arm we wish to connect to
diff --git a/ovis_bringup/launch/ovis_arm.launch b/ovis_bringup/launch/ovis_arm.launch
index bf9624c..8a4ef6c 100644
--- a/ovis_bringup/launch/ovis_arm.launch
+++ b/ovis_bringup/launch/ovis_arm.launch
@@ -3,12 +3,14 @@
   <arg name="kinova_robotType" default="c2s6s000" />
   <arg name="kinova_robotName" default="ovis" />
   <arg name="kinova_robotSerial" default="not_set" />
+  <arg name="robotIpAddress" default="192.168.84.160" />
   <arg name="use_jaco_v1_fingers" default="false" />
   <arg name="feedback_publish_rate" default="0.1" />
 
   <node name="$(arg kinova_robotName)" pkg="kinova_driver" type="kinova_arm_driver" output="screen" cwd="node" args="$(arg kinova_robotType)" respawn="true">
     <rosparam file="$(find ovis_bringup)/launch/config/ovis_parameters.yaml" command="load" />
     <param name="serial_number" value="$(arg kinova_robotSerial)" />
+    <param name="robotIpAddress" value="$(arg robotIpAddress)" />
     <param name="robot_name" value="$(arg kinova_robotName)" />
     <param name="robot_type" value="$(arg kinova_robotType)" />
     <param name="use_jaco_v1_fingers" value="$(arg use_jaco_v1_fingers)" />

From 5f1b9f1d6a9f5a4539d7c223504cd768eb166972 Mon Sep 17 00:00:00 2001
From: Samuel Lachance <leuchak@slachance.ca>
Date: Wed, 17 May 2023 19:54:00 -0400
Subject: [PATCH 2/2] Rename robotIpAddress to kinovaControllerIpAddress

---
 kinova_driver/src/kinova_comm.cpp   | 2 +-
 ovis_bringup/launch/ovis_arm.launch | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/kinova_driver/src/kinova_comm.cpp b/kinova_driver/src/kinova_comm.cpp
index ede4f84..f0373d4 100644
--- a/kinova_driver/src/kinova_comm.cpp
+++ b/kinova_driver/src/kinova_comm.cpp
@@ -77,7 +77,7 @@ KinovaComm::KinovaComm(const ros::NodeHandle& node_handle, boost::recursive_mute
   node_handle.getParam("ethernet/subnet_mask", subnet_mask);
   node_handle.getParam("ethernet/local_cmd_port", local_cmd_port);
   node_handle.getParam("ethernet/local_broadcast_port", local_bcast_port);
-  node_handle.getParam("robotIpAddress", inet_addr_string);
+  node_handle.getParam("kinovaControllerIpAddress", inet_addr_string);
   ethernet_settings.localCmdport = local_cmd_port;
   ethernet_settings.localBcastPort = local_bcast_port;
   ethernet_settings.localIpAddress = inet_addr(local_IP.c_str());
diff --git a/ovis_bringup/launch/ovis_arm.launch b/ovis_bringup/launch/ovis_arm.launch
index 8a4ef6c..e7084fb 100644
--- a/ovis_bringup/launch/ovis_arm.launch
+++ b/ovis_bringup/launch/ovis_arm.launch
@@ -3,14 +3,14 @@
   <arg name="kinova_robotType" default="c2s6s000" />
   <arg name="kinova_robotName" default="ovis" />
   <arg name="kinova_robotSerial" default="not_set" />
-  <arg name="robotIpAddress" default="192.168.84.160" />
+  <arg name="kinovaControllerIpAddress" default="192.168.84.160" />
   <arg name="use_jaco_v1_fingers" default="false" />
   <arg name="feedback_publish_rate" default="0.1" />
 
   <node name="$(arg kinova_robotName)" pkg="kinova_driver" type="kinova_arm_driver" output="screen" cwd="node" args="$(arg kinova_robotType)" respawn="true">
     <rosparam file="$(find ovis_bringup)/launch/config/ovis_parameters.yaml" command="load" />
     <param name="serial_number" value="$(arg kinova_robotSerial)" />
-    <param name="robotIpAddress" value="$(arg robotIpAddress)" />
+    <param name="kinovaControllerIpAddress" value="$(arg kinovaControllerIpAddress)" />
     <param name="robot_name" value="$(arg kinova_robotName)" />
     <param name="robot_type" value="$(arg kinova_robotType)" />
     <param name="use_jaco_v1_fingers" value="$(arg use_jaco_v1_fingers)" />