Obbart/universal_robots_ros_driver
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Faster loading speed and better precision for LBTF

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Low Bandwidth Trajectory Follower has now much less comments
and debugging information - which means that it will parse on UR robot
in around 400 ms instead of 700 ms. It also has an adjustment loop
in case the robot does not reach any of the trajectory points specified.

It will catch-up at every trajectory point sent by MoveIt and will try
to get as close as possible to the desired pointi (it will check if all
joints are within MAX_JOINT_DIFFERENCE from the desired positions)
This commit is contained in:
Jarek Potiuk
2018-01-27 13:14:38 +01:00
parent a54b97e939
commit 42b336bbf5
4 changed files with 24 additions and 153 deletions
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2
launch/ur_common.launch
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@@ -22,6 +22,7 @@
<arg name="more_debug" default="false" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
@@ -52,6 +53,7 @@
<param name="more_debug" type="bool" value="$(arg more_debug)"/>
<param name="servoj_gain" type="double" value="$(arg servoj_gain)" />
<param name="servoj_lookahead_time" type="double" value="$(arg servoj_lookahead_time)" />
<param name="max_joint_difference" type="double" value="$(arg max_joint_difference)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
<param name="require_activation" type="str" value="$(arg require_activation)" />