From dc545b532744b6ca9e0a56eac695d7520f199fe7 Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Thu, 10 Oct 2024 11:24:11 +0200 Subject: [PATCH] Parse the rx and tx idle chars as floats (#729) As they are floating point values, we should not parse them into ints from the parameters. --- ur_robot_driver/src/hardware_interface.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp index c27a36ea..06f915c0 100644 --- a/ur_robot_driver/src/hardware_interface.cpp +++ b/ur_robot_driver/src/hardware_interface.cpp @@ -247,7 +247,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw } tool_comm_setup->setStopBits(stop_bits); - int rx_idle_chars; + float rx_idle_chars; // Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the // robot is started. Valid values: min=1.0, max=40.0 // @@ -261,7 +261,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw tool_comm_setup->setRxIdleChars(rx_idle_chars); tool_comm_setup->setParity(static_cast(parity)); - int tx_idle_chars; + float tx_idle_chars; // Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the // robot is started. Valid values: min=0.0, max=40.0 //