Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Load the script from an external file

Browse Source
This commit is contained in:
Felix Mauch
2019-05-20 12:28:35 +02:00
parent ec31db35b2
commit 89ee1aae8a
7 changed files with 110 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
ur_rtde_driver/launch/ur10_ros_control.launch
View File

@@ -18,6 +18,7 @@
<arg name="shutdown_on_disconnect" default="true" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller"/>
<arg name="stopped_controllers" default=""/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -25,8 +26,9 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)">
<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)"/>
<param name="script_file" value="$(arg urscript_file)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
<!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
<!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->