Obbart/universal_robots_ros_driver
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by default, deactivate tool_comm and set tool voltage to 0

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This commit is contained in:
Felix Mauch
2019-07-02 07:45:43 +02:00
parent 8bbe0274d6
commit a6338abad6
5 changed files with 8 additions and 8 deletions
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4
ur_rtde_driver/launch/ur10e_bringup.launch
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@@ -4,7 +4,7 @@
<!-- GDB functionality --> <!-- GDB functionality -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg name="use_tool_communication" default="true"/> <arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/> <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/> <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/> <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
@@ -13,7 +13,7 @@
<arg name="tf_prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/> <arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/> <arg name="tool_stop_bits" default="1"/>

4
ur_rtde_driver/launch/ur3e_bringup.launch
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@@ -4,7 +4,7 @@
<!-- GDB functionality --> <!-- GDB functionality -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg name="use_tool_communication" default="true"/> <arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/> <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/> <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/> <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
@@ -13,7 +13,7 @@
<arg name="tf_prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/> <arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/> <arg name="tool_stop_bits" default="1"/>

4
ur_rtde_driver/launch/ur5e_bringup.launch
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@@ -4,7 +4,7 @@
<!-- GDB functionality --> <!-- GDB functionality -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg name="use_tool_communication" default="true"/> <arg name="use_tool_communication" default="false"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/> <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/> <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/> <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
@@ -13,7 +13,7 @@
<arg name="tf_prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/> <arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/> <arg name="tool_stop_bits" default="1"/>

2
ur_rtde_driver/launch/ur_common.launch
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@@ -10,7 +10,7 @@
<arg name="tf_prefix" default="" /> <arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/> <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default="pos_traj_controller"/> <arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/> <arg name="tool_stop_bits" default="1"/>

2
ur_rtde_driver/launch/ur_control.launch
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@@ -15,7 +15,7 @@
<arg name="stopped_controllers" default="pos_traj_controller"/> <arg name="stopped_controllers" default="pos_traj_controller"/>
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/> <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/> <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/> <arg name="tool_voltage" default="0"/>
<arg name="tool_parity" default="0"/> <arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/> <arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/> <arg name="tool_stop_bits" default="1"/>