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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39
launch/ur10_ros_control.launch
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@@ -15,30 +15,27 @@
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<group ns="universal_robot"> <!-- Load hardware interface -->
<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="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
</node>
<!-- Load hardware interface --> <!-- Load controller settings -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)"> <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
</node>
<!-- Load controller settings --> <!-- spawn controller manager -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/> <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" />
<!-- spawn controller manager --> <!-- load other controller -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> output="screen" args="load position_based_position_trajectory_controller" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
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>

38
launch/ur5_ros_control.launch
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@@ -15,31 +15,29 @@
<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)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/> <param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/> <param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/> <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/> <param name="use_ros_control" type="bool" value="True"/>
</node> </node>
<!-- Load controller settings --> <!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/> <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- 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 -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms --> <!-- load other controller -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" />
</group> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch> </launch>