Obbart/universal_robots_ros_driver
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Added HardwareInterface

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This commit is contained in:
Felix Mauch
2019-04-11 14:05:51 +02:00
parent 7b88b47aa1
commit 153585ad9d
7 changed files with 326 additions and 19 deletions
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5
include/ur_rtde_driver/ur/ur_driver.h
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@@ -55,6 +55,11 @@ public:
*/
std::unique_ptr<rtde_interface::DataPackage> getDataPackage();
const uint32_t& getControlFrequency() const
{
return rtde_frequency_;
}
private:
//! This frequency is used for the rtde interface. By default, it will be 125Hz on CB3 and 500Hz on the e-series.
uint32_t rtde_frequency_;