From 3ac977cffaf4b77ae52d8fc4afe22e04ca1276c5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de> Date: Thu, 25 Jul 2019 17:44:46 +0200 Subject: [PATCH] added more detail to explanation why only torque --- franka_hw/include/franka_hw/franka_combinable_hw.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/franka_hw/include/franka_hw/franka_combinable_hw.h b/franka_hw/include/franka_hw/franka_combinable_hw.h index d87f6cd..4d2ed21 100644 --- a/franka_hw/include/franka_hw/franka_combinable_hw.h +++ b/franka_hw/include/franka_hw/franka_combinable_hw.h @@ -23,8 +23,9 @@ namespace franka_hw { * A hardware class for a Panda robot based on the ros_control framework. * This class is ready to be combined with other hardware classes e.g. to * control mulitple robots from a single controller. - * Note: This class allows for torque (effort) control only (see documentation at - * https://frankaemika.github.io/docs/franka_ros.html ). + * Note: This class allows for torque (effort) control only due to the lack of synchronization + * between master controllers of different robots. For more information see the documentation at + * https://frankaemika.github.io/docs/franka_ros.html . */ class FrankaCombinableHW : public FrankaHW { public: -- GitLab