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

UniversalRobots · Jan 23, 2025 · c64d549 · c64d549
1 parent c006672
commit c64d549
Showing 1 changed file with 1 addition and 1 deletion.
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);
   }