Obbart/universal_robots_ros_driver
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Code Releases Activity

Updated ur10_ros_control.launch to load all controllers

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Thomas Timm Andersen
2015-09-25 10:20:56 +02:00
parent 68b751cdcc
commit 980eb8ddd9
1 changed files with 7 additions and 5 deletions
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12
launch/ur10_ros_control.launch
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@@ -27,15 +27,17 @@
</node> </node>
<!-- Load controller settings --> <!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/> <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- Load controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="spawn 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 --> <!-- 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> </group>
</launch> </launch>