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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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"/>