search

ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
1.05k stars 1.03k forks source link

How can I limit velocity? #571

Closed Ryoga723 closed 3 years ago

Ryoga723 commented 3 years ago

Hello,

When we use UR, we can limit its velocity by teach pendant.

But it's stupid to manipulate teach pendant every time.

So I'd like to change limitation in moveit program.

Now I use moveit::planning_interface::MoveGroupInterface move_group class and to execute move_group.execute(my plan) is method to move robot.

Thank you for your helping.

gavanderhoorn commented 3 years ago

Which driver are you using?

Ryoga723 commented 3 years ago

I use ur_robot_driver.

launch command is the same as read.me of this package. roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT

And I use below command to connect moveit. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

gavanderhoorn commented 3 years ago

I use ur_robot_driver.

Then please post this on UniversalRobots/Universal_Robots_ROS_Driver/issues.

launch command is the same as read.me of this package.

roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT

that doesn't seem right: note you're referring to ur_bringup. The readme you refer to actually launch things from ur_robot_driver.

gavanderhoorn commented 3 years ago

As this is not an issue with the package(s) in this repository, I'm going to close it.