Obbart/universal_robots_ros_driver
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Merge pull request #20 from smart-robotics/master

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Expose tool pose from RT connection in ROS
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Thomas Timm Andersen
2015-11-16 15:35:44 +01:00
parent 67776ea049 dc7204fe6e
commit 36e20b8567
4 changed files with 64 additions and 2 deletions
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5
launch/ur_common.launch
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@@ -12,7 +12,8 @@
<arg name="min_payload" />
<arg name="max_payload" />
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="base"/>
<arg name="tool_frame" default="tool0_controller"/>
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
@@ -27,5 +28,7 @@
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
</node>
</launch>