Obbart/universal_robots_ros_driver
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replace tcp_accuracy_checker with hash comparison

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This closes #34
This commit is contained in:
Felix Mauch
2019-06-14 14:35:50 +02:00
parent 34eb8dcf08
commit 7e6b203b67
13 changed files with 133 additions and 106 deletions
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1
ur_rtde_driver/launch/ur_common.launch
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@@ -33,6 +33,7 @@
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="tool_voltage" value="$(arg tool_voltage)"/>

2
ur_rtde_driver/launch/ur_control.launch
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@@ -9,6 +9,7 @@
<arg name="use_tool_communication"/>
<arg name="controller_config_file"/>
<arg name="robot_ip"/>
<arg name="kinematics_config"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
@@ -26,6 +27,7 @@
<!-- Load hardware interface -->
<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)"/>
<rosparam command="load" file="$(arg kinematics_config)" />
<param name="script_file" value="$(arg urscript_file)"/>
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
<param name="tf_prefix" value="$(arg tf_prefix)"/>