Obbart/universal_robots_ros_driver
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Optimized servoj function call for firmware version >= 3.1

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This commit is contained in:
Thomas Timm Andersen
2015-10-30 12:52:46 +01:00
parent 14e9a25dd8
commit 09dbe010ae
2 changed files with 5 additions and 3 deletions
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4
src/ur_driver.cpp
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@@ -180,6 +180,9 @@ bool UrDriver::uploadProg() {
cmd_str += "\t\t\t\tsync()\n"; cmd_str += "\t\t\t\tsync()\n";
cmd_str += "\t\t\telif state == SERVO_RUNNING:\n"; cmd_str += "\t\t\telif state == SERVO_RUNNING:\n";
if (sec_interface_->robot_state_->getVersion() >= 3.1)
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f, lookahead_time=0.03)\n", servoj_time_);
else
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f)\n", servoj_time_); sprintf(buf, "\t\t\t\tservoj(q, t=%.4f)\n", servoj_time_);
cmd_str += buf; cmd_str += buf;
@@ -208,7 +211,6 @@ bool UrDriver::uploadProg() {
cmd_str += "\t\t\tset_servo_setpoint(q)\n"; cmd_str += "\t\t\tset_servo_setpoint(q)\n";
cmd_str += "\t\tend\n"; cmd_str += "\t\tend\n";
cmd_str += "\tend\n"; cmd_str += "\tend\n";
cmd_str += "\tstopj(10)\n";
cmd_str += "\tsleep(.1)\n"; cmd_str += "\tsleep(.1)\n";
cmd_str += "\tsocket_close()\n"; cmd_str += "\tsocket_close()\n";
cmd_str += "end\n"; cmd_str += "end\n";

2
src/ur_ros_wrapper.cpp
View File

@@ -142,7 +142,7 @@ public:
min_payload, max_payload); min_payload, max_payload);
print_debug(buf); print_debug(buf);
double servoj_time = 0.08; double servoj_time = 0.008;
if (ros::param::get("~servoj_time", servoj_time)) { if (ros::param::get("~servoj_time", servoj_time)) {
sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time); sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time);
print_debug(buf); print_debug(buf);