Obbart/universal_robots_ros_driver
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moved rtde recipe to external text file

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This commit is contained in:
Tristan Schnell
2019-05-23 15:03:39 +02:00
parent 876d4a06f5
commit 649f499499
8 changed files with 37 additions and 17 deletions
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2
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -19,6 +19,7 @@
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
<arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -29,6 +30,7 @@
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
<!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->