Obbart/universal_robots_ros_driver
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Sanity check of actionserver goal input

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 14:44:58 +02:00
parent 0e6fe245b9
commit 9d56e027d2
3 changed files with 81 additions and 30 deletions
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4
include/ur_modern_driver/ur_driver.h
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@@ -21,7 +21,6 @@
class UrDriver {
private:
double maximum_time_step_;
double maximum_velocity_;
double minimum_payload_;
double maximum_payload_;
std::vector<std::string> joint_names_;
@@ -29,7 +28,7 @@ public:
UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host,
unsigned int safety_count_max = 12, double max_time_step = 0.08, double max_vel = 10., double min_payload= 0., double max_payload=1.);
unsigned int safety_count_max = 12, double max_time_step = 0.08, double min_payload= 0., double max_payload=1.);
void start();
void halt();
@@ -52,7 +51,6 @@ public:
void setAnalogOut(unsigned int n, double f);
bool setPayload(double m);
void setMaxVel(double vel);
void setMinPayload(double m);
void setMaxPayload(double m);