Obbart/universal_robots_ros_driver
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Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step

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Thomas Timm Andersen
2015-09-18 15:00:36 +02:00
parent 36c8b70ba0
commit 208995d8f3
3 changed files with 5 additions and 4 deletions
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2
include/ur_modern_driver/ur_driver.h
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@@ -31,7 +31,7 @@ public:
UrCommunication* sec_interface_;
UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12, double max_time_step = 0.08,
unsigned int safety_count_max = 12, double max_time_step = 0.24,
double min_payload = 0., double max_payload = 1.);
void start();
void halt();