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Move-robot-ip-address-configuration-to-ros-launch-file-in-kinova-driver #42

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Move-robot-ip-address-configuration-to-ros-launch-file-in-kinova-driver #42

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9316089
Updated ovis_arm with new robot ip
AlexLapy Nov 30, 2022
5f1b9f1
Rename robotIpAddress to kinovaControllerIpAddress
Leuchak May 17, 2023
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4 changes: 3 additions & 1 deletion kinova_driver/src/kinova_comm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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("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());
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
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2 changes: 2 additions & 0 deletions ovis_bringup/launch/ovis_arm.launch
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Expand Up @@ -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="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="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)" />
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