Obbart/universal_robots_ros_driver
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Code Releases Activity

Included a position-based controller. Also prettied up printing

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Thomas Timm Andersen
2015-09-25 09:57:33 +02:00
parent a15fcc695c
commit 5c785af6c4
14 changed files with 299 additions and 242 deletions
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4
launch/ur5_ros_control.launch
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@@ -30,8 +30,8 @@
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- Load controller manager -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
<node name="ros_control_controller_manager" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller position_based_position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>