Obbart/universal_robots_ros_driver
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Code Releases Activity

Added HardwareInterface

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This commit is contained in:
Felix Mauch
2019-04-11 14:05:51 +02:00
parent 7b88b47aa1
commit 153585ad9d
7 changed files with 326 additions and 19 deletions
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32
launch/ur10_ros_control.launch
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@@ -16,8 +16,8 @@
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
<arg name="controllers" default="joint_state_controller"/>
<arg name="stopped_controllers" default=""/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -25,18 +25,18 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<param name="servoj_gain" type="double" value="750" />
<param name="prefix" value="$(arg prefix)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
<!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->
<!--<param name="max_velocity" type="double" value="$(arg max_velocity)"/>-->
<!--<param name="use_ros_control" type="bool" value="True"/>-->
<!--<param name="servoj_gain" type="double" value="750" />-->
<!--<param name="prefix" value="$(arg prefix)" />-->
<!--<param name="base_frame" type="str" value="$(arg base_frame)"/>-->
<!--<param name="tool_frame" type="str" value="$(arg tool_frame)"/>-->
<!--<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>-->
</node>
<!-- Load controller settings -->
@@ -47,8 +47,8 @@
output="screen" args="$(arg controllers)" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load $(arg stopped_controllers)" />
<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
<!--output="screen" args="load $(arg stopped_controllers)" />-->
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>