Obbart/universal_robots_ros_driver
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Add time parameter back to speedj for SW >= 3.3.

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This commit is contained in:
Miguel Prada
2017-03-22 15:48:59 +01:00
parent 9ca8836242
commit 50380df1bf
1 changed files with 6 additions and 1 deletions
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7
src/ur_realtime_communication.cpp
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@@ -98,7 +98,12 @@ void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2, void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
double q3, double q4, double q5, double acc) { double q3, double q4, double q5, double acc) {
char cmd[1024]; char cmd[1024];
if( robot_state_->getVersion() >= 3.1 ) { if( robot_state_->getVersion() >= 3.3 ) {
sprintf(cmd,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.008)\n",
q0, q1, q2, q3, q4, q5, acc);
}
else if( robot_state_->getVersion() >= 3.1 ) {
sprintf(cmd, sprintf(cmd,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n", "speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n",
q0, q1, q2, q3, q4, q5, acc); q0, q1, q2, q3, q4, q5, acc);