Open miguelprada opened 5 years ago
Are you referring to this:
If so: I would say that is probably a copy-pasta. Introduced in 1e4934a1 (part of https://github.com/Zagitta/ur_modern_driver/pull/1), that should most likely not have reused that parameters name.
@henningkayser: you submitted that PR. Do you remember why you used MAX_VEL_CHANGE_ARG
there? That's definitely not right.
Are you referring to this:
Yes.
Furthermore, looking a bit deeper, those two lines attempt to read from max_vel_change
parameter, which is not set by any of the launch files. Instead, the launch files set max_velocity
parameter, which is not read anywhere.
Having something check that incoming trajectories do not violate the maximum allowable velocity before executing them is probably a good idea. I'd like to see that functionality kept/restored/(re)implemented.
As noted here:
that is not a safety feature, but more a sanity-check.
Edit: also: this is not related to maximum joint velocities, but more an additional sanity check that makes sure incoming trajectories are not corrupted / malformed / illegal. It's a carry-over from ur_driver
.
Let's wait on @henningkayser a bit.
Having something check that incoming trajectories do not violate the maximum allowable velocity before executing them is probably a good idea. I'd like to see that functionality kept/restored/(re)implemented.
Definitely, yes.
:bellhop_bell: @henningkayser.
Ping @henningkayser.
The
max_velocity
parameter, if found, is used to set bothActionServer::max_velocity_
andVelocityInterface::max_vel_change_
(a.k.a. max acceleration?).This doesn't make much sense, and to make matters worse, the default values provided for when the parameter is not found are different for both variables.