Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Main

Browse Source
This commit is contained in:
Simon Rasmussen
2017-05-19 01:28:46 +02:00
parent ffe0ac170c
commit 502506e7fc
1 changed files with 11 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
src/ros_main.cpp
View File

@@ -30,6 +30,15 @@ static const std::string BASE_FRAME_ARG("~base_frame");
static const std::string TOOL_FRAME_ARG("~tool_frame"); static const std::string TOOL_FRAME_ARG("~tool_frame");
static const std::string JOINT_NAMES_PARAM("hardware_interface/joints"); static const std::string JOINT_NAMES_PARAM("hardware_interface/joints");
static const std::vector<std::string> DEFAULT_JOINTS = {
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint"
};
static const int UR_SECONDARY_PORT = 30002; static const int UR_SECONDARY_PORT = 30002;
static const int UR_RT_PORT = 30003; static const int UR_RT_PORT = 30003;
@@ -61,7 +70,7 @@ bool parse_args(ProgArgs &args)
ros::param::param(PREFIX_ARG, args.prefix, std::string()); ros::param::param(PREFIX_ARG, args.prefix, std::string());
ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link"); ros::param::param(BASE_FRAME_ARG, args.base_frame, args.prefix + "base_link");
ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller"); ros::param::param(TOOL_FRAME_ARG, args.tool_frame, args.prefix + "tool0_controller");
ros::param::get(JOINT_NAMES_PARAM, args.joint_names); ros::param::param(JOINT_NAMES_PARAM, args.joint_names, DEFAULT_JOINTS);
return true; return true;
} }
@@ -105,7 +114,7 @@ int main(int argc, char **argv)
{ {
LOG_INFO("ActionServer enabled"); LOG_INFO("ActionServer enabled");
action_server = new ActionServer(traj_follower, args.joint_names, args.max_velocity); action_server = new ActionServer(traj_follower, args.joint_names, args.max_velocity);
//rt_vec.push_back(action_server); rt_vec.push_back(action_server);
services.push_back(action_server); services.push_back(action_server);
} }