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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12
src/ur_ros_wrapper.cpp
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@@ -75,7 +75,7 @@ public:
char buf[256];
if (ros::param::get("~prefix", joint_prefix)) {
sprintf(buf,"Setting prefix to %s", joint_prefix.c_str());
sprintf(buf, "Setting prefix to %s", joint_prefix.c_str());
print_info(buf);
}
joint_names.push_back(joint_prefix + "shoulder_pan_joint");
@@ -122,6 +122,13 @@ public:
min_payload, max_payload);
print_debug(buf);
double servoj_time = 0.016;
if (ros::param::get("~servoj_time", servoj_time)) {
sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time);
print_debug(buf);
}
robot_.setServojTime(servoj_time);
if (robot_.start()) {
if (use_ros_control_) {
ros_control_thread_ = new std::thread(
@@ -140,7 +147,8 @@ public:
//subscribe to the data topic of interest
rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this));
print_debug("The action server for this driver has been started");
print_debug(
"The action server for this driver has been started");
}
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));