From 14e9a25dd876b61ad59db5523e241ae872ddff1b Mon Sep 17 00:00:00 2001 From: Thomas Timm Andersen Date: Fri, 30 Oct 2015 12:48:30 +0100 Subject: [PATCH] Removed hardcoded velocity limit in vel_based ros_control --- src/ur_hardware_interface.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/ur_hardware_interface.cpp b/src/ur_hardware_interface.cpp index ab97678..ea66395 100644 --- a/src/ur_hardware_interface.cpp +++ b/src/ur_hardware_interface.cpp @@ -163,10 +163,6 @@ void UrHardwareInterface::write() { < prev_joint_velocity_command_[i] - max_vel_change_) { cmd[i] = prev_joint_velocity_command_[i] - max_vel_change_; } - if (cmd[i] > M_PI/2.) - cmd[i] = M_PI/2.; - else if (cmd[i] < -M_PI/2.) - cmd[i] = -M_PI/2.; prev_joint_velocity_command_[i] = cmd[i]; } robot_->setSpeed(cmd[0], cmd[1], cmd[2], cmd[3], cmd[4], cmd[5], max_vel_change_*125);