Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

define a non-scaled position trajectory controller by default

Browse Source 
This way, users can choose whether they want to use non-scaled controllers
as used by older drivers.
This commit is contained in:
Felix Mauch
2019-06-26 08:54:29 +02:00
parent 5934de2772
commit cb64e68100
14 changed files with 154 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
ur_rtde_driver/config/ur3_controllers.yaml
View File

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
# Joint Trajectory Controller - position based -------------------------------
# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
pos_based_pos_traj_controller:
scaled_pos_traj_controller:
type: position_controllers/ScaledJointTrajectoryController
joints:
- shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
stop_trajectory_duration: 0.5
state_publish_rate: 500
action_monitor_rate: 10
pos_traj_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
elbow_joint: {trajectory: 0.2, goal: 0.1}
wrist_1_joint: {trajectory: 0.2, goal: 0.1}
wrist_2_joint: {trajectory: 0.2, goal: 0.1}
wrist_3_joint: {trajectory: 0.2, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 500
action_monitor_rate: 10