Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Update README.md

Browse Source 
corrected controller names to match original ur10 and ur5 usage
This commit is contained in:
HurchelYoung
2016-11-21 07:24:49 -08:00
committed by GitHub
parent a188a0ce0d
commit d89a06b2d4
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
README.md
View File

@@ -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: 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: rosservice call /universal_robot/controller_manager/switch_controller "start_controllers:
- 'velocity_based_position_trajectory_controller' - 'vel_based_pos_traj_controller'
stop_controllers: stop_controllers:
- 'position_based_position_trajectory_controller' - 'pos_based_pos_traj_controller'
strictness: 1" 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. 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 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: 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 action_ns: follow_joint_trajectory
type: FollowJointTrajectory type: FollowJointTrajectory
default: true default: true