Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Improved ros_control performance and stability

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:37:49 +02:00
parent 22e7d799c2
commit 589dca8e2a
8 changed files with 108 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
launch/ur10_ros_control.launch
View File

@@ -29,13 +29,13 @@
<!-- spawn controller manager -->
<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 vel_based_pos_traj_controller" />
<!-- load other controller -->
<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 pos_based_pos_traj_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
</launch>