Obbart/universal_robots_ros_driver
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define a non-scaled position trajectory controller by default

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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
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4
ur_rtde_driver/launch/ur_common.launch
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@@ -8,8 +8,8 @@
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<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="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>