Obbart/universal_robots_ros_driver
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Implemented ros-control

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Thomas Timm Andersen
2015-09-24 10:27:29 +02:00
parent d5ea350145
commit af601b9c32
12 changed files with 549 additions and 29 deletions
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launch/ur10_ros_control.launch Normal file
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<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="10.0"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<group ns="universal_robot">
<!-- 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)"/>
<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="$(arg max_velocity)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur10_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" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</group>
</launch>