From d89a06b2d49598bb8c80ecd9a3053f7414b09ef6 Mon Sep 17 00:00:00 2001 From: HurchelYoung Date: Mon, 21 Nov 2016 07:24:49 -0800 Subject: [PATCH] Update README.md corrected controller names to match original ur10 and ur5 usage --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index d96ea47..fa17d06 100644 --- a/README.md +++ b/README.md @@ -59,9 +59,9 @@ If you would like to use the ros\_control-based approach, use the launch files u The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service: ``` rosservice call /universal_robot/controller_manager/switch_controller "start_controllers: -- 'velocity_based_position_trajectory_controller' +- 'vel_based_pos_traj_controller' stop_controllers: -- 'position_based_position_trajectory_controller' +- 'pos_based_pos_traj_controller' strictness: 1" ``` Be sure to stop the currently running controller **either before or in the same call** as you start a new one, otherwise it will fail. @@ -73,7 +73,7 @@ The position based controller *should* stay closer to the commanded path, while To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following ``` controller_list: - - name: /velocity_based_position_trajectory_controller #or /position_based_position_trajectory_controller + - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true