Obbart/universal_robots_ros_driver
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Updated launch files

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Thomas Timm Andersen
2015-09-25 11:28:54 +02:00
parent 980eb8ddd9
commit 8c25a4495f
2 changed files with 38 additions and 43 deletions
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5
launch/ur10_ros_control.launch
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@@ -15,8 +15,6 @@
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<group ns="universal_robot">
<!-- Load hardware interface --> <!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)"> <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/> <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
@@ -32,13 +30,12 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" /> output="screen" args="load position_based_position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</group>
</launch> </launch>

4
launch/ur5_ros_control.launch
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@@ -15,7 +15,6 @@
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<group ns="universal_robot">
<!-- Load hardware interface --> <!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)"> <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
@@ -32,6 +31,7 @@
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
<!-- load other controller --> <!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" /> output="screen" args="load position_based_position_trajectory_controller" />
@@ -39,7 +39,5 @@
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</group>
</launch> </launch>