Obbart/universal_robots_ros_driver
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Changed the servoj loop time for better stability

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This commit is contained in:
Thomas Timm Andersen
2015-10-01 12:28:16 +02:00
parent 5672f57500
commit 22e7d799c2
5 changed files with 55 additions and 30 deletions
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10
include/ur_modern_driver/ur_driver.h
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@@ -39,13 +39,14 @@ private:
const unsigned int REVERSE_PORT_;
int incoming_sockfd_;
int new_sockfd_;
double servoj_time_;
public:
UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_;
UrDriver(std::condition_variable& rt_msg_cond,
std::condition_variable& msg_cond, std::string host,
unsigned int reverse_port = 50007, unsigned int safety_count_max =
unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max =
12, double max_time_step = 0.08, double min_payload = 0.,
double max_payload = 1.);
bool start();
@@ -53,14 +54,14 @@ public:
void setSpeed(double q0, double q1, double q2, double q3, double q4,
double q5, double acc = 100.);
void addTraj(
/* void addTraj(
std::vector<double> inp_timestamps, //DEPRECATED
std::vector<std::vector<double> > positions,
std::vector<std::vector<double> > velocities);
std::vector<std::vector<double> > velocities); */
void doTraj(std::vector<double> inp_timestamps,
std::vector<std::vector<double> > inp_positions,
std::vector<std::vector<double> > inp_velocities);
void servoj(std::vector<double> positions, double time, int keepalive);
void servoj(std::vector<double> positions, int keepalive = 1, double time = 0);
void stopTraj();
@@ -82,6 +83,7 @@ public:
void setMinPayload(double m);
void setMaxPayload(double m);
void setServojTime(double t);
};