Obbart/universal_robots_ros_driver
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Read payload and max velocity from parameter server

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Thomas Timm Andersen
2015-09-10 14:02:10 +02:00
parent 017810c30f
commit 8bf9e356f5
3 changed files with 30 additions and 5 deletions
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5
src/ur_driver.cpp
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@@ -12,9 +12,8 @@
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max) :
maximum_time_step_(0.08), maximum_velocity_(10.0), minimum_payload_(
0.0), maximum_payload_(1.0) {
unsigned int safety_count_max, double max_time_step, double max_vel, double min_payload, double max_payload ) :
maximum_time_step_(max_time_step), maximum_velocity_(max_vel), minimum_payload_(min_payload), maximum_payload_(max_payload) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);