Obbart/universal_robots_ros_driver
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Verified all functionality on all simulators

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Thomas Timm Andersen
2015-09-22 13:40:03 +02:00
parent fdcf4936de
commit d5ea350145
1 changed files with 2 additions and 2 deletions
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src/ur_driver.cpp
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@@ -184,8 +184,8 @@ void UrDriver::doTraj(std::vector<double> inp_timestamps,
buf[7 * 4 + 3] = (tmp >> 24) & 0xff; buf[7 * 4 + 3] = (tmp >> 24) & 0xff;
bytes_written = write(new_sockfd, buf, 32); bytes_written = write(new_sockfd, buf, 32);
// oversample with 2 * sample_time // oversample with 4 * sample_time
std::this_thread::sleep_for(std::chrono::milliseconds(4)); std::this_thread::sleep_for(std::chrono::milliseconds(2));
t = std::chrono::high_resolution_clock::now(); t = std::chrono::high_resolution_clock::now();
} }