Obbart/universal_robots_ros_driver
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Added controllers stopper

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This node takes care about taking down and restarting controllers based on
the robot's state.

Closes #48
This commit is contained in:
Felix Mauch
2019-06-12 11:31:14 +02:00
committed by Tristan Schnell
parent ad129da4c1
commit 25e9aafc14
7 changed files with 496 additions and 0 deletions
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9
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -58,4 +58,13 @@
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
<rosparam param="consistent_controllers">
- "joint_state_controller"
- "speed_scaling_state_controller"
- "force_torque_sensor_controller"
</rosparam>
</node>
</launch>