Obbart/universal_robots_ros_driver
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Code Releases Activity

Changed time base for ros_control. Fixes #44

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This commit is contained in:
Thomas Timm Andersen
2016-05-03 10:11:01 +02:00
parent c93d9dd543
commit 5b22e46450
2 changed files with 13 additions and 10 deletions
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14
src/ur_ros_wrapper.cpp
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@@ -560,19 +560,15 @@ private:
while (!robot_.rt_interface_->robot_state_->getControllerUpdated()) {
rt_msg_cond_.wait(locker);
}
clock_gettime(CLOCK_MONOTONIC, &current_time);
elapsed_time = ros::Duration(
current_time.tv_sec - last_time.tv_sec
+ (current_time.tv_nsec - last_time.tv_nsec)
/ BILLION);
last_time = current_time;
// Input
hardware_interface_->read();
robot_.rt_interface_->robot_state_->setControllerUpdated();
// Control
controller_manager_->update(
ros::Time(current_time.tv_sec, current_time.tv_nsec),
elapsed_time);
clock_gettime(CLOCK_MONOTONIC, &current_time);
elapsed_time = ros::Duration(current_time.tv_sec - last_time.tv_sec + (current_time.tv_nsec - last_time.tv_nsec)/ BILLION);
controller_manager_->update(ros::Time::now(), elapsed_time);
last_time = current_time;
// Output
hardware_interface_->write();