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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5
src/ur_ros_wrapper.cpp
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@@ -157,9 +157,10 @@ public:
robot_.setServojTime(servoj_time);
//Base and tool frames
base_frame_ = "base";
tool_frame_ = "tool0_controller";
base_frame_ = joint_prefix + "base_link";
tool_frame_ = joint_prefix + "tool0_controller";
if (ros::param::get("~base_frame", base_frame_)) {
base_frame_ = base_frame_;
sprintf(buf, "Base frame set to: %s", base_frame_.c_str());
print_debug(buf);
}