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Set force mode parameters from config #383

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Merged
merged 1 commit into from
Oct 6, 2025
Merged

Set force mode parameters from config #383

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4 changes: 2 additions & 2 deletions src/ur/ur_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,6 @@ static const std::string SERVER_IP_REPLACE("SERVER_IP_REPLACE");
static const std::string SERVER_PORT_REPLACE("SERVER_PORT_REPLACE");
static const std::string TRAJECTORY_PORT_REPLACE("TRAJECTORY_SERVER_PORT_REPLACE");
static const std::string SCRIPT_COMMAND_PORT_REPLACE("SCRIPT_COMMAND_SERVER_PORT_REPLACE");
static const std::string FORCE_MODE_SET_DAMPING_REPLACE("FORCE_MODE_SET_DAMPING_REPLACE");
static const std::string FORCE_MODE_SET_GAIN_SCALING_REPLACE("FORCE_MODE_SET_GAIN_SCALING_REPLACE");

UrDriver::~UrDriver()
{
Expand All @@ -73,6 +71,8 @@ void UrDriver::init(const UrDriverConfiguration& config)
socket_reconnection_timeout_ = config.socket_reconnection_timeout;
rtde_initialization_attempts_ = config.rtde_initialization_attempts;
rtde_initialization_timeout_ = config.rtde_initialization_timeout;
force_mode_gain_scale_factor_ = config.force_mode_gain_scaling;
force_mode_damping_factor_ = config.force_mode_damping;

URCL_LOG_DEBUG("Initializing urdriver");
URCL_LOG_DEBUG("Initializing RTDE client");
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