fix scaling setting

kroshu · Oct 24, 2023 · 2f9c4e4 · 2f9c4e4
1 parent 02c646e
commit 2f9c4e4
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp
@@ -54,7 +54,8 @@ int main(int argc, char * argv[])
   }
 
   example_node->addBreakPoint();
-
+  example_node->moveGroupInterface()->setMaxVelocityScalingFactor(0.1);
+  example_node->moveGroupInterface()->setMaxAccelerationScalingFactor(0.1);
   // Pilz LIN planner
   auto cart_goal = Eigen::Isometry3d(
     Eigen::Translation3d(
@@ -76,8 +77,6 @@ int main(int argc, char * argv[])
   example_node->addBreakPoint();
 
   // Try moving back with Pilz LIN
-  example_node->moveGroupInterface()->setMaxVelocityScalingFactor(0.1);
-  example_node->moveGroupInterface()->setMaxAccelerationScalingFactor(0.1);
   planned_trajectory = example_node->planToPoint(
     standing_pose, "pilz_industrial_motion_planner",
     "LIN");