Obbart/universal_robots_ros_driver
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Fixed order of starting and stopping controllers

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Thomas Timm Andersen
2015-09-25 10:19:58 +02:00
parent dc49deaf18
commit 68b751cdcc
4 changed files with 25 additions and 25 deletions
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6
launch/ur5_ros_control.launch
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@@ -30,11 +30,11 @@
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- spawn controller manager -->
<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" />
<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" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load velocity_based_position_trajectory_controller" />
output="screen" args="load position_based_position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>