Merge pull request #136 from ipa-fxm/default_max_velocity_parameter

[Hydro] Default max velocity parameter

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 -->

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