Obbart/universal_robots_ros_driver
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add support for speedj

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This commit is contained in:
Felix Mauch
2019-07-05 13:51:02 +02:00
parent c714759413
commit 2d442f1f58
7 changed files with 185 additions and 10 deletions
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29
ur_rtde_driver/launch/ur10_speed_bringup.launch Normal file
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@@ -0,0 +1,29 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller joint_group_vel_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="vel_based_pos_traj_controller"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<arg name="use_tool_communication" value="false"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
</include>
</launch>

6
ur_rtde_driver/launch/ur_control.launch
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@@ -11,9 +11,9 @@
<arg name="robot_ip"/>
<arg name="kinematics_config"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="controllers" default="joint_state_controller vel_based_pos_traj_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="joint_group_vel_controller"/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/speedj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>