From 1d99ea831dae0259634d9389c1ee42690e9c3d82 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 31 Oct 2014 08:56:36 +0000
Subject: [PATCH] increase max_velocity
---
ur_driver/src/ur_driver/driver.py | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 469e523..5824204 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -62,6 +62,10 @@ MULT_blend = 1000.0
MULT_analog = 1000000.0
MULT_analog_robotstate = 0.1
+#Max Velocity accepted by ur_driver
+MAX_VELOCITY = 10.0
+#Using a very high value in order to not limit execution of trajectories being sent from MoveIt!
+
#Bounds for SetPayload service
MIN_PAYLOAD = 0.0
MAX_PAYLOAD = 1.0
@@ -926,8 +930,10 @@ def main():
rospy.loginfo("No calibration offsets loaded from urdf")
# Reads the maximum velocity
+ # The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits
global max_velocity
- max_velocity = rospy.get_param("~max_velocity", 2.0)
+ max_velocity = rospy.get_param("~max_velocity", MAX_VELOCITY) # [rad/s]
+ rospy.loginfo("Max velocity accepted by ur_driver: %s [rad/s]" % max_velocity)
# Reads the minimum payload
global min_payload
--
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