Obbart/universal_robots_ros_driver
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Added parameter to use eiter ros_control or old-style interface

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Thomas Timm Andersen
2015-09-24 16:37:14 +02:00
parent 6f3bd5d06f
commit a2c074eec4
3 changed files with 51 additions and 38 deletions
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6
launch/ur10_ros_control.launch
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@@ -4,11 +4,12 @@
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -22,6 +23,7 @@
<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 -->
@@ -29,7 +31,7 @@
<!-- Load controller manager -->
<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 position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

6
launch/ur5_ros_control.launch
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@@ -4,6 +4,7 @@
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
@@ -22,14 +23,15 @@
<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="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- Load controller manager -->
<!-- <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" /> -->
<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" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>