Obbart/universal_robots_ros_driver
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Added prefix args to ros_control launch files and to the tool0_controller transform frame

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Thomas Timm Andersen
2016-02-19 14:58:28 +01:00
parent 0b9bf8b549
commit adc223cbd8
6 changed files with 24 additions and 9 deletions
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10
launch/ur5_ros_control.launch
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@@ -1,21 +1,24 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<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="5.0"/>
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)" />
</include>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
@@ -23,6 +26,7 @@
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<arg name="prefix" value="$(arg prefix)" />
</node>
<!-- Load controller settings -->