From 7743c79f6d86bf28c2de108f814e85451464a615 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 15 May 2019 16:43:16 +0200
Subject: [PATCH] added separate speed_scaling handle and controller

In theory that handle could be used to also set the speed_scaling,
done by the controller. However, this is not yet implemented.
---
 ur_rtde_driver/launch/ur10_ros_control.launch | 2 +-
 ur_rtde_driver/src/ros/hardware_interface.cpp | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ur_rtde_driver/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
index 5a67b19..445d971 100644
--- a/ur_rtde_driver/launch/ur10_ros_control.launch
+++ b/ur_rtde_driver/launch/ur10_ros_control.launch
@@ -16,7 +16,7 @@
   <arg name="base_frame" default="$(arg prefix)base" />
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller"/>
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
   <arg name="stopped_controllers" default=""/>
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index e7143da..bf214d4 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -72,14 +72,14 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
         js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_));
   }
 
-  // speedsc_interface_.registerHandle(
-  // ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
+  speedsc_interface_.registerHandle(
+      ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
 
   // Register interfaces
   registerInterface(&js_interface_);
   registerInterface(&spj_interface_);
   // registerInterface(&pj_interface_);
-  // registerInterface(&speedsc_interface_);
+  registerInterface(&speedsc_interface_);
 
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");