fix scaling

kroshu · Oct 25, 2023 · 59ad2f0 · 59ad2f0
1 parent 16cf499
commit 59ad2f0
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitBasicPlannersExample.cpp
@@ -53,10 +53,8 @@ int main(int argc, char * argv[])
     example_node->addBreakPoint();
     example_node->moveGroupInterface()->execute(*planned_trajectory);
   }
-
   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(

diff --git a/kuka_driver_examples/eci_demo/src/MoveitDepalletizingExample.cpp b/kuka_driver_examples/eci_demo/src/MoveitDepalletizingExample.cpp
@@ -83,6 +83,9 @@ int main(int argc, char * argv[])
   .detach();
 
   node->initialize();
+
+  node->moveGroupInterface()->setMaxVelocityScalingFactor(0.1);
+  node->moveGroupInterface()->setMaxAccelerationScalingFactor(0.1);
   // Add robot platform
   node->addRobotPlatform();
   node->addBreakPoint();