Obbart/universal_robots_ros_driver
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added separate speed_scaling handle and controller

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In theory that handle could be used to also set the speed_scaling,
done by the controller. However, this is not yet implemented.
This commit is contained in:
Felix Mauch
2019-05-15 16:43:16 +02:00
parent 35322d208b
commit 7743c79f6d
2 changed files with 4 additions and 4 deletions
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2
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -16,7 +16,7 @@
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller"/>
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
<arg name="stopped_controllers" default=""/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">