Obbart/universal_robots_ros_driver
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added RTDE writer class and required interfaces for use in the hardware interface

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Tristan Schnell
2019-07-25 18:30:28 +02:00
parent da53c3b45c
commit 8bacdc0fe1
13 changed files with 208 additions and 18 deletions
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6
ur_rtde_driver/launch/ur_control.launch
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@@ -14,7 +14,8 @@
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt"/>
<arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt"/>
<arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
@@ -29,7 +30,8 @@
<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="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>
<param name="input_recipe_file" value="$(arg rtde_input_recipe_file)"/>
<param name="tf_prefix" value="$(arg tf_prefix)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->