Obbart/universal_robots_ros_driver
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Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47

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This commit is contained in:
Thomas Timm Andersen
2016-08-30 11:49:25 +02:00
parent d8012be697
commit e785ce0860
6 changed files with 52 additions and 9 deletions
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6
include/ur_modern_driver/ur_driver.h
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@@ -50,6 +50,8 @@ private:
double servoj_time_;
bool executing_traj_;
double firmware_version_;
double servoj_lookahead_time_;
double servoj_gain_;
public:
UrRealtimeCommunication* rt_interface_;
UrCommunication* sec_interface_;
@@ -58,7 +60,7 @@ public:
std::condition_variable& msg_cond, std::string host,
unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max =
12, double max_time_step = 0.08, double min_payload = 0.,
double max_payload = 1.);
double max_payload = 1., double servoj_lookahead_time=0.03, double servoj_gain=300.);
bool start();
void halt();
@@ -91,6 +93,8 @@ public:
void setMinPayload(double m);
void setMaxPayload(double m);
void setServojTime(double t);
void setServojLookahead(double t);
void setServojGain(double g);
};