Obbart/universal_robots_ros_driver
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Changed the servoj loop time for better stability

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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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2
src/ur_hardware_interface.cpp
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@@ -141,7 +141,7 @@ void UrHardwareInterface::write() {
joint_velocity_command_[2], joint_velocity_command_[3],
joint_velocity_command_[4], joint_velocity_command_[5], 100);
} else if (position_interface_running_) {
robot_->servoj(joint_position_command_, 0.008, 1);
robot_->servoj(joint_position_command_);
}
}