Obbart/universal_robots_ros_driver
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Changed how trajectories are handled to try and speed things up

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Thomas Timm Andersen
2015-09-22 10:34:09 +02:00
parent c4af674faa 208995d8f3
commit 64a33bf5ed
2 changed files with 5 additions and 4 deletions
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4
src/ur_driver.cpp
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@@ -90,10 +90,10 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
} }
} }
//make sure we come to a smooth stop //make sure we come to a smooth stop
while (timestamps.back() < inp_timestamps.back()) { /*while (timestamps.back() < inp_timestamps.back()) {
timestamps.push_back(timestamps.back() + 0.008); timestamps.push_back(timestamps.back() + 0.008);
} }
timestamps.pop_back(); timestamps.pop_back();*/
unsigned int j = 0; unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) { for (unsigned int i = 0; i < timestamps.size(); i++) {

5
src/ur_ros_wrapper.cpp
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@@ -146,7 +146,7 @@ public:
t.push_back(0.); t.push_back(0.);
t.push_back(4.); t.push_back(4.);
t.push_back(8.); t.push_back(8.);
robot_.doTraj(t, pos, vel); */ robot_.doTraj(t, pos, vel);*/
} }
@@ -295,7 +295,8 @@ private:
traj.points[i].positions[mapping[j]]); traj.points[i].positions[mapping[j]]);
new_point.velocities.push_back( new_point.velocities.push_back(
traj.points[i].velocities[mapping[j]]); traj.points[i].velocities[mapping[j]]);
new_point.accelerations.push_back( if (traj.points[i].accelerations.size() != 0)
new_point.accelerations.push_back(
traj.points[i].accelerations[mapping[j]]); traj.points[i].accelerations[mapping[j]]);
} }
new_point.time_from_start = traj.points[i].time_from_start; new_point.time_from_start = traj.points[i].time_from_start;