Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Changed minimum servoj time. Fixes #3

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

4
src/ur_driver.cpp
View File

@@ -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;
}
}

2
src/ur_ros_wrapper.cpp
View File

@@ -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);