Obbart/universal_robots_ros_driver
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split common and control

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Felix Mauch
2019-06-14 10:31:52 +02:00
parent ca3e127f21
commit 34eb8dcf08
3 changed files with 93 additions and 62 deletions
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70
ur_rtde_driver/launch/ur_control.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="use_tool_communication"/>
<arg name="controller_config_file"/>
<arg name="robot_ip"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="tf_prefix" value="$(arg tf_prefix)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<param name="tool_voltage" value="$(arg tool_voltage)"/>
<param name="tool_parity" value="$(arg tool_parity)"/>
<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</node>
<!-- Starts socat to bridge the robot's tool communication interface to a local tty device -->
<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
<param name="device_name" value="$(arg tool_device_name)"/>
<param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(arg controller_config_file)" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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="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>