Remove manual keepalive message from script

This is actually not properly checked by the driver, as keepalive signals won't be sent when the program is paused.
UniversalRobots · Apr 3, 2021 · 13db13e · 13db13e
1 parent 524f0be
commit 13db13e
Showing 1 changed file with 0 additions and 1 deletion.
diff --git a/ur_robot_driver/resources/ros_control.urscript b/ur_robot_driver/resources/ros_control.urscript
@@ -109,7 +109,6 @@ textmsg("ExternalControl: External control active")
 keepalive = params_mult[1]
 while keepalive > 0 and control_mode > MODE_STOPPED:
   enter_critical
-  socket_send_line(1, "reverse_socket")
   params_mult = socket_read_binary_integer(1+6+1, "reverse_socket", 0.02) # steptime could work as well, but does not work in simulation
   if params_mult[0] > 0:
     keepalive = params_mult[1]