Obbart/universal_robots_ros_driver
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set servoj_gain to 2000

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This commit is contained in:
Felix Mauch
2019-06-03 17:27:49 +02:00
parent 4f646bb888
commit ac14f4337c
1 changed files with 1 additions and 1 deletions
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ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -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, ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_file,
const std::string& recipe_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"); LOG_INFO("Initializing RTDE client");
rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file)); rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));