Obbart/universal_robots_ros_driver
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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
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13
src/ros_main.cpp
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@@ -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 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_RT_PORT = 30003;
@@ -61,7 +70,7 @@ bool parse_args(ProgArgs &args)
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(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;
}
@@ -105,7 +114,7 @@ int main(int argc, char **argv)
{
LOG_INFO("ActionServer enabled");
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);
}