Obbart/universal_robots_ros_driver
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Merge pull request #79 from HurchelYoung/master

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Minor corrections needed for default ros_control based approach
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Thomas Timm Andersen
2016-11-28 16:09:55 +01:00
committed by GitHub
parent af6edc8a35 452161a4d4
commit 9ca8836242
2 changed files with 10 additions and 7 deletions
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13
README.md
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@@ -52,13 +52,16 @@ If you want to test it in your current setup, just use the modified launch files
---
If you would like to use the ros\_control-based approach, use the launch files urXX\_ros\_control.launch, where XX is '5' or '10' depending on your robot.
The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time.
You can switch controller by calling the appropriate service:
**Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder:
* urXX_moveit_config
* ur_description
The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service:
```
rosservice call /universal_robot/controller_manager/switch_controller "start_controllers:
- 'velocity_based_position_trajectory_controller'
- 'vel_based_pos_traj_controller'
stop_controllers:
- 'position_based_position_trajectory_controller'
- 'pos_based_pos_traj_controller'
strictness: 1"
```
Be sure to stop the currently running controller **either before or in the same call** as you start a new one, otherwise it will fail.
@@ -70,7 +73,7 @@ The position based controller *should* stay closer to the commanded path, while
To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following
```
controller_list:
- name: vel_based_pos_traj_controller #or pos_based_pos_traj_controller
- name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true

4
config/ur3_controllers.yaml
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@@ -26,7 +26,7 @@ force_torque_sensor_controller:
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
position_based_position_trajectory_controller:
pos_based_pos_traj_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
@@ -54,7 +54,7 @@ position_based_position_trajectory_controller:
# Joint Trajectory Controller - velocity based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
velocity_based_position_trajectory_controller:
vel_based_pos_traj_controller:
type: velocity_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint