Obbart/universal_robots_ros_driver
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Improved ros_control performance and stability

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:37:49 +02:00
parent 22e7d799c2
commit 589dca8e2a
8 changed files with 108 additions and 30 deletions
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8
include/ur_modern_driver/ur_hardware_interface.h
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@@ -58,6 +58,7 @@
#include <controller_manager/controller_manager.h>
#include <boost/scoped_ptr.hpp>
#include <ros/ros.h>
#include <math.h>
#include "do_output.h"
#include "ur_driver.h"
@@ -86,6 +87,8 @@ public:
/// \brief write the command to the robot hardware.
virtual void write();
void setMaxVelChange(double inp);
bool canSwitch(
const std::list<hardware_interface::ControllerInfo> &start_list,
const std::list<hardware_interface::ControllerInfo> &stop_list) const;
@@ -111,10 +114,13 @@ protected:
std::vector<double> joint_effort_;
std::vector<double> joint_position_command_;
std::vector<double> joint_velocity_command_;
std::size_t num_joints_;
std::vector<double> prev_joint_velocity_command_;
std::size_t num_joints_;
double robot_force_[3] = { 0., 0., 0. };
double robot_torque_[3] = { 0., 0., 0. };
double max_vel_change_;
// Robot API
UrDriver* robot_;