Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 11:00:47 +02:00
Code Releases Activity

Read payload and max velocity from parameter server

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-10 14:02:10 +02:00
parent 017810c30f
commit 8bf9e356f5
3 changed files with 30 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
include/ur_modern_driver/ur_driver.h
View File

@@ -29,7 +29,7 @@ public:
UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12);
unsigned int safety_count_max = 12, double max_time_step = 0.08, double max_vel = 10., double min_payload= 0., double max_payload=1.);
void start();
void halt();