Obbart/universal_robots_ros_driver
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Added launch files for making the driver behave just like the old python driver

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Thomas Timm Andersen
2015-10-30 12:47:32 +01:00
parent 2e37fb00df
commit 3f0b03a768
2 changed files with 10 additions and 8 deletions
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2
launch/ur10_bringup.launch
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@@ -12,7 +12,7 @@
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="20.0"/> <arg name="max_payload" default="10.0"/>
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch"> <include file="$(find ur_description)/launch/ur10_upload.launch">

16
launch/ur_common.launch
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@@ -8,9 +8,10 @@
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip" />
<arg name="min_payload"/> <arg name="min_payload" />
<arg name="max_payload"/> <arg name="max_payload" />
<arg name="servoj_time" default="0.008" />
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits --> <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
@@ -21,9 +22,10 @@
<!-- driver --> <!-- driver -->
<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen"> <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. --> <!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/> <param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/> <param name="min_payload" type="double" value="$(arg min_payload)" />
<param name="max_payload" type="double" value="$(arg max_payload)"/> <param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)"/> <param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
</node> </node>
</launch> </launch>