From 8af0285a148af65aa301e2ce0e96a2d648ec5fad Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 31 Oct 2014 08:56:56 +0000
Subject: [PATCH] allow to set max_velocity from launch file
---
ur_bringup/launch/ur_common.launch | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch
index cd3b292..f2d9e9e 100644
--- a/ur_bringup/launch/ur_common.launch
+++ b/ur_bringup/launch/ur_common.launch
@@ -16,6 +16,9 @@
<arg name="min_payload"/>
<arg name="max_payload"/>
+ <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
+ <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
+
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
@@ -27,6 +30,7 @@
<node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
+ <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
</node>
<!-- TF Buffer Server -->
--
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