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Fix: primary_configuration_timeout as configurable field in UrDriverConfiguration #489

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Merged
urfeex merged 4 commits into from
May 6, 2026
Merged

Fix: primary_configuration_timeout as configurable field in UrDriverConfiguration #489

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02f84af
Add primary configuration timeout from hardware interface
litziacarla Apr 21, 2026
904d5ef
Revert "Add primary configuration timeout from hardware interface"
litziacarla May 6, 2026
e6922b8
Set primary client timeout of 10s
litziacarla May 6, 2026
5351509
Merge branch 'UniversalRobots:master' into master
litziacarla May 6, 2026
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5 changes: 5 additions & 0 deletions include/ur_client_library/ur/ur_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,11 @@ struct UrDriverConfiguration
*/
std::chrono::milliseconds rtde_initialization_timeout = std::chrono::seconds(5);

/*!
* \brief Timeout for waiting for primary client configuration data.
*/
std::chrono::milliseconds primary_configuration_timeout = std::chrono::seconds(1);

bool non_blocking_read = false;

// TODO: Remove on 2027-05
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2 changes: 1 addition & 1 deletion src/ur/ur_driver.cpp
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Expand Up @@ -98,7 +98,7 @@ void UrDriver::init(const UrDriverConfiguration& config)

startPrimaryClientCommunication();

std::chrono::milliseconds timeout(1000);
std::chrono::milliseconds timeout(config.primary_configuration_timeout);
try
{
waitFor([this]() { return primary_client_->getConfigurationData() != nullptr; }, timeout);
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