Obbart/universal_robots_ros_driver
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Add arguments to ros_control launchfiles to select loaded controllers. (#236)

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Miguel Prada
2018-11-29 19:50:33 +01:00
committed by G.A. vd. Hoorn
parent bb4814cbc6
commit 7e3116fb3c
3 changed files with 16 additions and 10 deletions
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6
launch/ur10_ros_control.launch
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@@ -15,6 +15,8 @@
<arg name="base_frame" default="$(arg prefix)base" /> <arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" /> <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" /> <arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch"> <include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" /> output="screen" args="$(arg controllers)" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" /> output="screen" args="load $(arg stopped_controllers)" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

6
launch/ur3_ros_control.launch
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@@ -15,6 +15,8 @@
<arg name="base_frame" default="$(arg prefix)base" /> <arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" /> <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" /> <arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur3_upload.launch"> <include file="$(find ur_description)/launch/ur3_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" /> output="screen" args="$(arg controllers)" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" /> output="screen" args="load $(arg stopped_controllers)" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

6
launch/ur5_ros_control.launch
View File

@@ -15,6 +15,8 @@
<arg name="base_frame" default="$(arg prefix)base" /> <arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" /> <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" /> <arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch"> <include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
@@ -40,11 +42,11 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" /> output="screen" args="$(arg controllers)" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" /> output="screen" args="load $(arg stopped_controllers)" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>