Obbart/universal_robots_ros_driver
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added first version of speed scaling readings

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This commit is contained in:
Felix Mauch
2019-04-17 16:59:07 +02:00
parent 5bbeae1c8f
commit 7a31b25e38
6 changed files with 23 additions and 2 deletions
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4
include/ur_rtde_driver/ros/hardware_interface.h
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@@ -33,6 +33,8 @@
#include <hardware_interface/joint_state_interface.h>
#include <algorithm>
#include <ur_controllers/speed_scaling_interface.h>
#include "ur_rtde_driver/ur/ur_driver.h"
namespace ur_driver
@@ -57,6 +59,7 @@ protected:
hardware_interface::JointStateInterface js_interface_;
hardware_interface::PositionJointInterface pj_interface_;
ur_controllers::SpeedScalingInterface speedsc_interface_;
// hardware_interface::VelocityJointInterface vj_interface_;
vector6d_t joint_position_command_;
@@ -64,6 +67,7 @@ protected:
vector6d_t joint_positions_;
vector6d_t joint_velocities_;
vector6d_t joint_efforts_;
double speed_scaling_value_;
std::vector<std::string> joint_names_;
bool position_controller_running_;