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ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
BSD 3-Clause "New" or "Revised" License
93 stars 53 forks source link

What does the duration really mean? #126

Closed Dyson-Ido closed 3 years ago

Dyson-Ido commented 3 years ago 
 p_point = trajectory_1.add_points();
 p_point->set_reach(true);
 p_point->set_duration(2.0);

Hi, here the duration, it's the time from start or just the time interval between current point to the next point?

Thanks! @jontje

jontje commented 3 years ago

Hi @ScottYang1982,

That duration is the desired time between the current and next point, and it is used in the egm_interpolator.cpp file.

Please note that there is no guarantee that the robot will be able to adhere to the desired duration. For example, that depends on how EGM have been configured on the robot controller side.

gavanderhoorn commented 3 years ago

Assuming the question has been answered, I'm closing this.