From 513ff9143df53bc973442e785ce58fc3279bdebe Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sun, 14 Jul 2019 15:05:21 +0200 Subject: [PATCH] rtde_driver: don't unnecessarily repeat joint names. Use an anchor for the list and aliases where needed. --- ur_rtde_driver/config/ur10_controllers.yaml | 18 +++--------------- ur_rtde_driver/config/ur10e_controllers.yaml | 18 +++--------------- ur_rtde_driver/config/ur3_controllers.yaml | 18 +++--------------- ur_rtde_driver/config/ur3e_controllers.yaml | 18 +++--------------- ur_rtde_driver/config/ur5_controllers.yaml | 18 +++--------------- ur_rtde_driver/config/ur5e_controllers.yaml | 18 +++--------------- 6 files changed, 18 insertions(+), 90 deletions(-) diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml index ebbd6be..a294913 100644 --- a/ur_rtde_driver/config/ur10_controllers.yaml +++ b/ur_rtde_driver/config/ur10_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 diff --git a/ur_rtde_driver/config/ur10e_controllers.yaml b/ur_rtde_driver/config/ur10e_controllers.yaml index c100dfc..0608e0d 100644 --- a/ur_rtde_driver/config/ur10e_controllers.yaml +++ b/ur_rtde_driver/config/ur10e_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml index ebbd6be..a294913 100644 --- a/ur_rtde_driver/config/ur3_controllers.yaml +++ b/ur_rtde_driver/config/ur3_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 diff --git a/ur_rtde_driver/config/ur3e_controllers.yaml b/ur_rtde_driver/config/ur3e_controllers.yaml index c100dfc..0608e0d 100644 --- a/ur_rtde_driver/config/ur3e_controllers.yaml +++ b/ur_rtde_driver/config/ur3e_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml index ebbd6be..a294913 100644 --- a/ur_rtde_driver/config/ur5_controllers.yaml +++ b/ur_rtde_driver/config/ur5_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 diff --git a/ur_rtde_driver/config/ur5e_controllers.yaml b/ur_rtde_driver/config/ur5e_controllers.yaml index c100dfc..0608e0d 100644 --- a/ur_rtde_driver/config/ur5e_controllers.yaml +++ b/ur_rtde_driver/config/ur5e_controllers.yaml @@ -4,7 +4,7 @@ hardware_control_loop: # Settings for ros_control hardware interface hardware_interface: - joints: + joints: &robot_joints - shoulder_pan_joint - shoulder_lift_joint - elbow_joint @@ -31,13 +31,7 @@ speed_scaling_state_controller: # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller scaled_pos_traj_controller: type: position_controllers/ScaledJointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 @@ -53,13 +47,7 @@ scaled_pos_traj_controller: pos_traj_controller: type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + joints: *robot_joints constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05