feature/woodside_update

UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.

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feature/woodside_update #77

Closed farrell49 closed 5 years ago

farrell49 commented 5 years ago

Add the time to the command header. I also removed the second line of joint_deltas time as it is not supplied and therefore not populated and causes faults

AndyZe commented 5 years ago

Thanks!

I'm fairly sure that issue we discussed (where the arm moves more and more slowly as time goes on) is due to high CPU usage from collision checking, but these changes certainly don't hurt. I'll make a new commit soon that allows for a parameterizable collision check rate.