Obbart/universal_robots_ros_driver
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Merge pull request #100 from tecnalia-advancedmanufacturing-robotics/fix/92

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Add time parameter back to speedj for SW >= 3.3.
This commit is contained in:
Thomas Timm Andersen
2017-04-25 12:11:49 +02:00
committed by GitHub
parent 9ca8836242 50380df1bf
commit 6eb529ee2f
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,
double q3, double q4, double q5, double acc) {
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,
"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n",
q0, q1, q2, q3, q4, q5, acc);