Obbart/universal_robots_ros_driver
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Specified type of position_trajectory_controller

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Thomas Timm Andersen
2015-09-24 16:59:31 +02:00
parent ba96d0f098
commit a15fcc695c
4 changed files with 4 additions and 4 deletions
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2
config/ur10_controllers.yaml
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@@ -24,7 +24,7 @@ force_torque_sensor_controller:
# Joint Trajectory Controller ------------------------------- # Joint Trajectory Controller -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
position_trajectory_controller: velocity_based_position_trajectory_controller:
type: velocity_controllers/JointTrajectoryController type: velocity_controllers/JointTrajectoryController
joints: joints:
- shoulder_pan_joint - shoulder_pan_joint

2
config/ur5_controllers.yaml
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@@ -24,7 +24,7 @@ force_torque_sensor_controller:
# Joint Trajectory Controller ------------------------------- # Joint Trajectory Controller -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
position_trajectory_controller: velocity_based_position_trajectory_controller:
type: velocity_controllers/JointTrajectoryController type: velocity_controllers/JointTrajectoryController
joints: joints:
- shoulder_pan_joint - shoulder_pan_joint

2
launch/ur10_ros_control.launch
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@@ -31,7 +31,7 @@
<!-- Load controller manager --> <!-- Load controller manager -->
<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="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_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"/>

2
launch/ur5_ros_control.launch
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@@ -31,7 +31,7 @@
<!-- Load controller manager --> <!-- Load controller manager -->
<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="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_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"/>