From ac14f4337cbf4f8518c34d285fb1cd6a57ff6cef Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 3 Jun 2019 17:27:49 +0200 Subject: [PATCH] set servoj_gain to 2000 --- ur_rtde_driver/src/ur/ur_driver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp index dadba29..306237d 100644 --- a/ur_rtde_driver/src/ur/ur_driver.cpp +++ b/ur_rtde_driver/src/ur/ur_driver.cpp @@ -44,7 +44,7 @@ static const std::string SERVER_PORT_REPLACE("{{SERVER_PORT_REPLACE}}"); ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& recipe_file) - : servoj_time_(0.008), servoj_gain_(750), servoj_lookahead_time_(0.03) + : servoj_time_(0.008), servoj_gain_(2000), servoj_lookahead_time_(0.03) { LOG_INFO("Initializing RTDE client"); rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));