Obbart/universal_robots_ros_driver
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Removed hardcoded velocity limit in vel_based ros_control

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Thomas Timm Andersen
2015-10-30 12:48:30 +01:00
parent 3f0b03a768
commit 14e9a25dd8
1 changed files with 0 additions and 4 deletions
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4
src/ur_hardware_interface.cpp
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@@ -163,10 +163,6 @@ void UrHardwareInterface::write() {
< prev_joint_velocity_command_[i] - max_vel_change_) { < prev_joint_velocity_command_[i] - max_vel_change_) {
cmd[i] = 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]; 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); robot_->setSpeed(cmd[0], cmd[1], cmd[2], cmd[3], cmd[4], cmd[5], max_vel_change_*125);