From b2a0b3e3ea0cdbcbd89d1fd3b749eeae18d142da Mon Sep 17 00:00:00 2001 From: Svastits Date: Thu, 24 Oct 2024 11:14:07 +0200 Subject: [PATCH] FIX: Using the correct port (backport #195) Co-authored-by: Giuseppe Monetti --- kuka_sunrise_fri_driver/src/hardware_interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_sunrise_fri_driver/src/hardware_interface.cpp b/kuka_sunrise_fri_driver/src/hardware_interface.cpp index 4557e65a..6a84f7b1 100644 --- a/kuka_sunrise_fri_driver/src/hardware_interface.cpp +++ b/kuka_sunrise_fri_driver/src/hardware_interface.cpp @@ -150,7 +150,7 @@ CallbackReturn KukaFRIHardwareInterface::on_init( CallbackReturn KukaFRIHardwareInterface::on_configure(const rclcpp_lifecycle::State &) { // Set up UDP connection (UDP replier on client) - if (!client_application_.connect(30200, controller_ip_.c_str())) + if (!client_application_.connect(client_port_, controller_ip_.c_str())) { RCLCPP_ERROR(rclcpp::get_logger("KukaFRIHardwareInterface"), "Could not set up UDP connection"); return CallbackReturn::FAILURE;