The new parameter uses setMaxVelocityScalingFactor() to set the scaling of the velocity for the movement to/between the scan points.
The function is called with the parameter in the RobotScan::init() function. This is actually not required because of the next bullet-point. However, I left it to be consistent with the other params like e.g. move_group_ptr_->setMaxVelocityScalingFactor(params_.move_scan_vel_scaling);
I also added this function to the RobotScan::create_scan_trajectory(...) function. So if one changes the parameter in the gui, it is applied for the next scan process. setEndEffectorLink(params_.tcp_frame)
Parameter got added in the RobotScanParameters.msg
I set the default value and the one in robot_scan.yaml(s) to 1, which applies no scaling
Added the parameter to the gui(s)
Had to increase the hight of the gui(s) to make space for the new field
The new parameter uses
setMaxVelocityScalingFactor()to set the scaling of the velocity for the movement to/between the scan points.The function is called with the parameter in the
RobotScan::init()function. This is actually not required because of the next bullet-point. However, I left it to be consistent with the other params like e.g.move_group_ptr_->setMaxVelocityScalingFactor(params_.move_scan_vel_scaling);I also added this function to the
RobotScan::create_scan_trajectory(...)function. So if one changes the parameter in the gui, it is applied for the next scan process.setEndEffectorLink(params_.tcp_frame)Parameter got added in the
RobotScanParameters.msgI set the default value and the one in
robot_scan.yaml(s)to1, which applies no scalingAdded the parameter to the gui(s)
Had to increase the hight of the gui(s) to make space for the new field