Force mode arguments #707
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Force mode arguments #707
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URJala
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urfeex
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…hanges to account for changes in msg in PR (ros-industrial/ur_msgs#20)
to match updated service definition and to match the force mode interface of ROS2.
urfeex
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This will probably not get merged unless somebody picks up the work of moving this to a separate controller so that resource management can be done properly. This feature exists in the ROS 2 driver, we recommend to switching to that by now. I'll leave this PR open, as the feature as such is working and usable if precautions are taken (stop JTC before using this feature). |
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add damping and gain scale arguments to ROS service call. These can be set with each force mode call when PR is implemented.
This is also dependent on PR for the service definition.