Obbart/universal_robots_ros_driver
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implemented setting of speed_slider via ROS topic

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This commit is contained in:
Tristan Schnell
2019-07-31 13:05:24 +02:00
parent 323125f84d
commit dc660b854d
5 changed files with 55 additions and 10 deletions
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7
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -216,6 +216,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
}
tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));
speed_slider_sub_ = robot_hw_nh.subscribe("set_speed_slider", 10, &HardwareInterface::speedScalingCallback, this);
deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
@@ -533,4 +535,9 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
}
return true;
}
void HardwareInterface::speedScalingCallback(const std_msgs::Float64::ConstPtr& msg)
{
ur_driver_->getRTDEWriter().sendSpeedSlider(msg->data);
}
} // namespace ur_driver