Obbart/universal_robots_ros_driver
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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.
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HurchelYoung
2016-11-17 07:12:36 -08:00
committed by GitHub
parent af6edc8a35
commit 814364dd1f
1 changed files with 2 additions and 3 deletions
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@@ -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. 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. 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:
You can switch controller by calling the appropriate service:
``` ```
rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: rosservice call /universal_robot/controller_manager/switch_controller "start_controllers:
- 'velocity_based_position_trajectory_controller' - '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 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: 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 action_ns: follow_joint_trajectory
type: FollowJointTrajectory type: FollowJointTrajectory
default: true default: true