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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11
src/ur_driver.cpp
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@@ -12,10 +12,10 @@
#include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
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) {
unsigned int safety_count_max, double max_time_step, double min_payload,
double max_payload) :
maximum_time_step_(max_time_step), minimum_payload_(min_payload), maximum_payload_(
max_payload) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max);
@@ -155,9 +155,6 @@ bool UrDriver::setPayload(double m) {
return false;
}
void UrDriver::setMaxVel(double vel) {
maximum_velocity_ = vel;
}
void UrDriver::setMinPayload(double m) {
minimum_payload_ = m;
}