Obbart/universal_robots_ros_driver
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added separate speed_scaling handle and controller

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In theory that handle could be used to also set the speed_scaling,
done by the controller. However, this is not yet implemented.
This commit is contained in:
Felix Mauch
2019-05-15 16:43:16 +02:00
parent 35322d208b
commit 7743c79f6d
2 changed files with 4 additions and 4 deletions
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6
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -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");