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robotiq_ft_sensor: read symlink of sensor file descriptor #158

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robotiq_ft_sensor: read symlink of sensor file descriptor #158

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16 changes: 16 additions & 0 deletions robotiq_ft_sensor/nodes/rq_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,6 +203,22 @@ int main(int argc, char **argv)
{
ROS_INFO("No device filename specified. Will attempt to discover Robotiq force torque sensor.");
}
// read symlink
if (!ftdi_id.empty())
{
char ftdi_id_buf[512];
size_t count = readlink(("/dev/" + ftdi_id).c_str(), ftdi_id_buf, sizeof(ftdi_id_buf));
if (count > 0)
{
ftdi_id_buf[count] = '\0';
ftdi_id = std::string(ftdi_id_buf);
}
else
{
ROS_FATAL("cannot read file descriptor at /dev/%s", ftdi_id.c_str());
return 1;
}
}

INT_8 bufStream[512];
robotiq_ft_sensor::ft_sensor msgStream;
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