From a410f99400cfbb25186eec38917ea2f5e46a6fad Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Thu, 17 Nov 2016 07:27:03 -0800 Subject: [PATCH] Update README.md Added instructions on where to find packages needed when using ros_control --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 1b52365..0e13923 100644 --- a/README.md +++ b/README.md @@ -52,6 +52,10 @@ 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. +**Note** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. Simply copy these packages into your workspace /src folder. + * urXX_movit_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: