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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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
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2
include/ur_modern_driver/ur_driver.h
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@@ -31,7 +31,7 @@ public:
UrCommunication* sec_interface_; UrCommunication* sec_interface_;
UrDriver(std::condition_variable& rt_msg_cond, std::condition_variable& msg_cond, std::string host, 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.); double min_payload = 0., double max_payload = 1.);
void start(); void start();
void halt(); void halt();

4
src/ur_driver.cpp
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@@ -57,10 +57,10 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
} }
} }
//make sure we come to a smooth stop //make sure we come to a smooth stop
while (timestamps.back() < inp_timestamps.back()) { /*while (timestamps.back() < inp_timestamps.back()) {
timestamps.push_back(timestamps.back() + 0.008); timestamps.push_back(timestamps.back() + 0.008);
} }
timestamps.pop_back(); timestamps.pop_back();*/
unsigned int j = 0; unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) { for (unsigned int i = 0; i < timestamps.size(); i++) {

1
src/ur_ros_wrapper.cpp
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@@ -271,6 +271,7 @@ private:
traj.points[i].positions[mapping[j]]); traj.points[i].positions[mapping[j]]);
new_point.velocities.push_back( new_point.velocities.push_back(
traj.points[i].velocities[mapping[j]]); traj.points[i].velocities[mapping[j]]);
if (traj.points[i].accelerations.size() != 0)
new_point.accelerations.push_back( new_point.accelerations.push_back(
traj.points[i].accelerations[mapping[j]]); traj.points[i].accelerations[mapping[j]]);
} }