Allow setting the speed slider fraction to 0.0 from service (#738)

urfeex · web-flow · commit c64d54928b58 · 2025-01-23T06:45:32.000+01:00
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -1091,7 +1091,7 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri
 bool HardwareInterface::setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req,
                                        ur_msgs::SetSpeedSliderFractionResponse& res)
 {
-  if (req.speed_slider_fraction >= 0.01 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)
+  if (req.speed_slider_fraction >= 0.0 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)
   {
     res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.speed_slider_fraction);
   }

Original file line number	Diff line number	Diff line change
`@@ -1091,7 +1091,7 @@ bool HardwareInterface::stopControl(std_srvs::TriggerRequest& req, std_srvs::Tri`
`1091`	`1091`	`bool HardwareInterface::setSpeedSlider(ur_msgs::SetSpeedSliderFractionRequest& req,`
`1092`	`1092`	`ur_msgs::SetSpeedSliderFractionResponse& res)`
`1093`	`1093`	`{`
`1094`		`- if (req.speed_slider_fraction >= 0.01 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)`
	`1094`	`+ if (req.speed_slider_fraction >= 0.0 && req.speed_slider_fraction <= 1.0 && ur_driver_ != nullptr)`
`1095`	`1095`	`{`
`1096`	`1096`	`res.success = ur_driver_->getRTDEWriter().sendSpeedSlider(req.speed_slider_fraction);`
`1097`	`1097`	`}`