Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Changed how trajectories are handled to try and speed things up

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-22 10:29:44 +02:00
parent 36c8b70ba0
commit c4af674faa
6 changed files with 291 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
src/ur_ros_wrapper.cpp
View File

@@ -95,7 +95,7 @@ public:
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
ROS_INFO("Bounds for set_payload service calls: [%f, %f]",
ROS_DEBUG("Bounds for set_payload service calls: [%f, %f]",
min_payload, max_payload);
}
@@ -122,7 +122,31 @@ public:
boost::bind(&RosWrapper::publishRTMsg, this));
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));
ROS_INFO("The action server for this driver has been started");
ROS_DEBUG("The action server for this driver has been started");
/*double pi = 3.141592653589793;
std::vector<double> tmp, t;
std::vector<std::vector<double> > pos, vel;
tmp.push_back(-pi / 2);
tmp.push_back(-pi / 2);
tmp.push_back(-pi / 2);
tmp.push_back(0);
tmp.push_back(-pi / 2);
tmp.push_back(0);
pos.push_back(tmp);
tmp[5] = pi;
pos.push_back(tmp);
tmp[5] = 0;
pos.push_back(tmp);
for (int i = 0; i < 6; i++) {
tmp[i] = 0;
}
vel.push_back(tmp);
vel.push_back(tmp);
vel.push_back(tmp);
t.push_back(0.);
t.push_back(4.);
t.push_back(8.);
robot_.doTraj(t, pos, vel); */
}
@@ -184,7 +208,7 @@ private:
velocities.push_back(goal_.trajectory.points[i].velocities);
}
robot_.addTraj(timestamps, positions, velocities);
robot_.doTraj(timestamps, positions, velocities);
ros::Duration(timestamps.back()).sleep();
result_.error_code = result_.SUCCESSFUL;