From 34195f6d86c66472c6c7b1bce458b7ee338f4ca5 Mon Sep 17 00:00:00 2001
From: Emanuele <ema.trabattoni@gmail.com>
Date: Wed, 23 Oct 2019 14:22:10 +0200
Subject: [PATCH] Incluso il file di default nella configurazione di lancio

---
 src/roboglue_ros/config/jointDefaults.yaml           | 12 ++++++------
 .../launch/roboglue_ros_urdriver_norviz.launch       |  8 ++++++--
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/src/roboglue_ros/config/jointDefaults.yaml b/src/roboglue_ros/config/jointDefaults.yaml
index 41bbd90..12635fd 100644
--- a/src/roboglue_ros/config/jointDefaults.yaml
+++ b/src/roboglue_ros/config/jointDefaults.yaml
@@ -8,9 +8,9 @@ jointNames:
     - wrist_3_joint
 #Home position of each joint in degrees
 jointHomePosition:
-    - !!float 90.0
-    - !!float -135.0
-    - !!float 135.0
-    - !!float -90.0
-    - !!float -90.0
-    - !!float 0.0
+    - shoulder_pan_joint: !!float 90.0
+    - shoulder_lift_joint: !!float -135.0
+    - elbow_joint: !!float 135.0
+    - wrist_1_joint: !!float -90.0
+    - wrist_2_joint: !!float -90.0
+    - wrist_3_joint: !!float 0.0
diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
index b7b12bc..8db8449 100644
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
@@ -15,21 +15,25 @@
 
     <!-- Common parameter Server -->
     <group ns="roboglue_ros_common">
+        <!-- ROS internal topics -->
         <param name="INstate"   type="string" value="/roboglue_com/com2ros/state" />
         <param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
         <param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
         <param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
         <param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
         <param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
+        <!-- ROS movement topics (For UR official driver use scalable position controller) -->
         <param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
         <param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
-        <!-- For UR official driver use scalable position controller -->
         <param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
+        <!-- ROS robot model description and defaults -->
         <param name="robot_model_name" type="string" value="robot_description" />
         <param name="move_group_name" type="string" value="manipulator" />
+        <param name="min_nonzero_move" type="double" value="0.005" />
+        <param name="joint_defaults" type="yaml" textfile="$(find roboglue_ros)/config/joiontDefaults.yaml">
+        <!-- ROS node loop parameters -->
         <param name="loop_rate" type="int" value="100" />
         <param name="msg_buffer" type="int" value="100" />
-        <param name="min_nonzero_move" type="double" value="0.005" />
     </group>
 
     <!-- Message Relay to/from MQTT -->