Obbart/universal_robots_ros_driver
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Correct controller names. Fixes ThomasTimm/ur_modern_driver#98

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Ruddick Lawrence
2017-07-07 16:53:05 -07:00
parent 6eb529ee2f
commit 50510eced1
1 changed files with 3 additions and 3 deletions
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6
launch/ur3_ros_control.launch
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@@ -10,7 +10,7 @@
<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="3.0"/> <arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" /> <arg name="prefix" default="" />
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] --> <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<arg name="base_frame" default="$(arg prefix)base" /> <arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" /> <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
@@ -38,11 +38,11 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> output="screen" args="joint_state_controller force_torque_sensor_controller pos_based_pos_traj_controller" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" /> output="screen" args="load vel_based_pos_traj_controller" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>