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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2
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -16,7 +16,7 @@
<arg name="base_frame" default="$(arg prefix)base" /> <arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" /> <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" /> <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=""/> <arg name="stopped_controllers" default=""/>
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch"> <include file="$(find ur_description)/launch/ur10_upload.launch">

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_)); js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_));
} }
// speedsc_interface_.registerHandle( speedsc_interface_.registerHandle(
// ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_)); ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
// Register interfaces // Register interfaces
registerInterface(&js_interface_); registerInterface(&js_interface_);
registerInterface(&spj_interface_); registerInterface(&spj_interface_);
// registerInterface(&pj_interface_); // registerInterface(&pj_interface_);
// registerInterface(&speedsc_interface_); registerInterface(&speedsc_interface_);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface"); ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");