Obbart/universal_robots_ros_driver
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Changed minimum servoj time. Fixes #3

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:50:22 +02:00
parent 52b68cbd9c
commit d8b8d86ecb
2 changed files with 3 additions and 3 deletions
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4
src/ur_driver.cpp
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@@ -369,9 +369,9 @@ void UrDriver::setMaxPayload(double m) {
maximum_payload_ = m; maximum_payload_ = m;
} }
void UrDriver::setServojTime(double t) { void UrDriver::setServojTime(double t) {
if (t > 0.016) { if (t > 0.008) {
servoj_time_ = t; servoj_time_ = t;
} else { } else {
servoj_time_ = 0.016; servoj_time_ = 0.008;
} }
} }

2
src/ur_ros_wrapper.cpp
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@@ -122,7 +122,7 @@ public:
min_payload, max_payload); min_payload, max_payload);
print_debug(buf); print_debug(buf);
double servoj_time = 0.016; double servoj_time = 0.008;
if (ros::param::get("~servoj_time", servoj_time)) { if (ros::param::get("~servoj_time", servoj_time)) {
sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time); sprintf(buf, "Servoj_time set to: %f [sec]", servoj_time);
print_debug(buf); print_debug(buf);