From 814364dd1f35bfc5f74c978d78d181dfc12eeab8 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Thu, 17 Nov 2016 07:12:36 -0800 Subject: [PATCH] Update README.md corrected the controller names for to be used when implementing ros_control. Also noted that the velocity_based_position_trajectory_controller is started by default. --- README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index fff5871..1b52365 100644 --- a/README.md +++ b/README.md @@ -52,8 +52,7 @@ If you want to test it in your current setup, just use the modified launch files --- If you would like to use the ros\_control-based approach, use the launch files urXX\_ros\_control.launch, where XX is '5' or '10' depending on your robot. -The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. -You can switch controller by calling the appropriate service: +The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: ``` rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: - 'velocity_based_position_trajectory_controller' @@ -70,7 +69,7 @@ The position based controller *should* stay closer to the commanded path, while To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following ``` controller_list: - - name: vel_based_pos_traj_controller #or pos_based_pos_traj_controller + - name: /velocity_based_position_trajectory_controller #or /position_based_position_trajectory_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true