Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-18 15:00:36 +02:00
parent 36c8b70ba0
commit 208995d8f3
3 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/ur_ros_wrapper.cpp
View File

@@ -271,7 +271,8 @@ private:
traj.points[i].positions[mapping[j]]);
new_point.velocities.push_back(
traj.points[i].velocities[mapping[j]]);
new_point.accelerations.push_back(
if (traj.points[i].accelerations.size() != 0)
new_point.accelerations.push_back(
traj.points[i].accelerations[mapping[j]]);
}
new_point.time_from_start = traj.points[i].time_from_start;