Obbart/universal_robots_ros_driver
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HurchelYoung
2016-11-21 07:45:12 -08:00
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@@ -53,7 +53,7 @@ If you want to test it in your current setup, just use the modified launch files
If you would like to use the ros\_control-based approach, use the launch files urXX\_ros\_control.launch, where XX is '5' or '10' depending on your robot.
**Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder:
* urXX_movit_config
* urXX_moveit_config
* ur_description
The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: