Add migration note containing the keepalive_count to robot_receive_ti…

…meout migration
UniversalRobots · May 22, 2024 · 3bfb962 · 3bfb962
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commit 3bfb962
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/ur_robot_driver/doc/migration/jazzy.rst b/ur_robot_driver/doc/migration/jazzy.rst
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+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.