From d8b8d86ecb490800ae4e1b0a52c1ace12ef6fe2a Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Thu, 8 Oct 2015 15:50:22 +0200
Subject: [PATCH] Changed minimum servoj time. Fixes #3

---
 src/ur_driver.cpp      | 4 ++--
 src/ur_ros_wrapper.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index cd85423..c02ffdf 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -369,9 +369,9 @@ void UrDriver::setMaxPayload(double m) {
 	maximum_payload_ = m;
 }
 void UrDriver::setServojTime(double t) {
-	if (t > 0.016) {
+	if (t > 0.008) {
 		servoj_time_ = t;
 	} else {
-		servoj_time_ = 0.016;
+		servoj_time_ = 0.008;
 	}
 }
diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index 8af68bc..8b1c0af 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -122,7 +122,7 @@ public:
 				min_payload, max_payload);
 		print_debug(buf);
 
-		double servoj_time = 0.016;
+		double servoj_time = 0.008;
 		if (ros::param::get("~servoj_time", servoj_time)) {
 			sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time);
 			print_debug(buf);