Obbart/universal_robots_ros_driver
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Merge branch 'speed_rate_limit'

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:38:50 +02:00
parent f592d2189a 589dca8e2a
commit 8c9595bbf2
8 changed files with 108 additions and 30 deletions
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8
src/ur_ros_wrapper.cpp
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@@ -129,6 +129,14 @@ public:
}
robot_.setServojTime(servoj_time);
double max_vel_change = 0.12; // equivalent of an acceleration of 15 rad/sec^2
if (ros::param::get("~max_acceleration", max_vel_change)) {
max_vel_change = max_vel_change/125;
}
sprintf(buf, "Max acceleration set to: %f [rad/sec²]", max_vel_change*125);
print_debug(buf);
hardware_interface_->setMaxVelChange(max_vel_change);
if (robot_.start()) {
if (use_ros_control_) {
ros_control_thread_ = new std::thread(