Obbart/universal_robots_ros_driver
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Code Releases Activity

Added interface for force-torque sensor

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Closes #20
This commit is contained in:
Felix Mauch
2019-06-05 13:29:45 +02:00
parent 38f1661617
commit 45430ec0e7
4 changed files with 17 additions and 1 deletions
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2
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -16,7 +16,7 @@
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
<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"/>