Allow changing topic name, made topic transient_local

UniversalRobots · Nov 9, 2023 · 2d250a2 · 2d250a2
1 parent 61baffb
commit 2d250a2
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -67,8 +67,11 @@ controller_interface::InterfaceConfiguration ScaledJointTrajectoryController::st
 controller_interface::CallbackReturn ScaledJointTrajectoryController::on_activate(const rclcpp_lifecycle::State& state)
 {
   if (scaled_params_.use_speed_scaling_topic_instead) {
+    auto qos = rclcpp::QoS(10);
+    qos.transient_local();
+
     scaling_factor_sub_ = get_node()->create_subscription<ScalingFactorMsg>(
-        "~/speed_scaling_factor", 10,
+        scaled_params_.speed_scaling_topic_name, qos,
         [&](const ScalingFactorMsg& msg) { scaling_factor_ = std::clamp(msg.data / 100.0, 0.0, 1.0); });
   }
 

diff --git a/ur_controllers/src/scaled_joint_trajectory_controller_parameters.yaml b/ur_controllers/src/scaled_joint_trajectory_controller_parameters.yaml
@@ -7,5 +7,10 @@ scaled_joint_trajectory_controller:
     use_speed_scaling_topic_instead: {
       type: bool,
       default_value: false,
-      description: "Instead of using the speed_scaling_interface_name listen on ~/speed_scaling_factor"
+      description: "Instead of using the speed_scaling_interface_name listen on <speed_scaling_topic_name>"
+    }
+    speed_scaling_topic_name: {
+      type: string,
+      default_value: "~/speed_scaling_factor",
+      description: "Topic name for the speed scaling factor (if enabled)"
     }