Obbart/universal_robots_ros_driver
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Added sanity check to setSpeed input

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This commit is contained in:
Thomas Timm Andersen
2015-09-17 10:10:45 +02:00
parent 98a52b0255
commit ff8b5522a2
2 changed files with 13 additions and 11 deletions
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22
src/ur_ros_wrapper.cpp
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@@ -88,12 +88,10 @@ public:
double min_payload = 0.;
double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) {
ROS_DEBUG("Min payload set to: %f [kg]",
min_payload);
ROS_DEBUG("Min payload set to: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload set to: %f [kg]",
max_payload);
ROS_DEBUG("Max payload set to: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
@@ -317,12 +315,16 @@ private:
}
void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) {
double acc = *std::max_element(msg->points[0].accelerations.begin(),
msg->points[0].accelerations.end());
robot_.setSpeed(msg->points[0].velocities[0],
msg->points[0].velocities[1], msg->points[0].velocities[2],
msg->points[0].velocities[3], msg->points[0].velocities[4],
msg->points[0].velocities[5], acc);
if (msg->points[0].velocities.size() == 6) {
double acc = 100;
if (msg->points[0].accelerations.size() > 0)
acc = *std::max_element(msg->points[0].accelerations.begin(),
msg->points[0].accelerations.end());
robot_.setSpeed(msg->points[0].velocities[0],
msg->points[0].velocities[1], msg->points[0].velocities[2],
msg->points[0].velocities[3], msg->points[0].velocities[4],
msg->points[0].velocities[5], acc);
}
}
void urscriptInterface(const std_msgs::String::ConstPtr& msg) {