From 592cae28f7f477a34d8865f267002b2eb9e968ff Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 22 May 2024 20:39:28 +0200 Subject: [PATCH] Add migration note containing the keepalive_count to robot_receive_timeout migration --- ur_robot_driver/doc/migration/jazzy.rst | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 ur_robot_driver/doc/migration/jazzy.rst diff --git a/ur_robot_driver/doc/migration/jazzy.rst b/ur_robot_driver/doc/migration/jazzy.rst new file mode 100644 index 000000000..1a7953154 --- /dev/null +++ b/ur_robot_driver/doc/migration/jazzy.rst @@ -0,0 +1,10 @@ +Iron to Jazzy migration for ur_robot_driver +=========================================== + +keep_alive_count -> robot_receive_timeout +----------------------------------------- + +Doing real-time control with a robot requires the control pc to conform to certain timing +constraints. For this ``keep_alive_count`` was used to estimate the tolerance that was given to the +ROS controller in terms of multiples of 20 ms. Now the timeout is directly configured using the +``robot_receive_timeout`` parameter of the hardware interface.