Obbart/universal_robots_ros_driver
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Added boundary check for setting payload

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 14:17:15 +02:00
parent 8bf9e356f5
commit 0e6fe245b9
3 changed files with 22 additions and 15 deletions
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14
src/ur_ros_wrapper.cpp
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@@ -68,7 +68,7 @@ public:
{ //Using a very high value in order to not limit execution of trajectories being sent from MoveIt!
double max_velocity = 10.;
if (ros::param::get("~max_velocity", max_velocity)) {
ROS_INFO(
ROS_DEBUG(
"Max velocity accepted by ur_driver: %f [rad/s]", max_velocity);
robot_.setMaxVel(max_velocity);
}
@@ -79,11 +79,11 @@ public:
double min_payload = 0.;
double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) {
ROS_INFO(
ROS_DEBUG(
"Min payload accepted by ur_driver: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_INFO(
ROS_DEBUG(
"Max payload accepted by ur_driver: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
@@ -189,9 +189,11 @@ private:
bool setPayload(ur_msgs::SetPayloadRequest& req,
ur_msgs::SetPayloadResponse& resp) {
robot_.setPayload(req.payload);
resp.success = true;
return true;
if (robot_.setPayload(req.payload))
resp.success = true;
else
resp.success = true;
return resp.success;
}
bool validateJointNames() {