Obbart/universal_robots_ros_driver
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added first version of speed scaling readings

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This commit is contained in:
Felix Mauch
2019-04-17 16:59:07 +02:00
parent 5bbeae1c8f
commit 7a31b25e38
6 changed files with 23 additions and 2 deletions
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7
config/ur10_controllers.yaml
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@@ -22,6 +22,11 @@ force_torque_sensor_controller:
type: force_torque_sensor_controller/ForceTorqueSensorController
publish_rate: 125
# Publish speed_scaling factor
speed_scaling_state_controller:
type: ur_controllers/SpeedScalingStateController
publish_rate: 125
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
pos_based_pos_traj_controller:
@@ -104,4 +109,4 @@ joint_group_vel_controller:
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- wrist_3_joint