Obbart/universal_robots_ros_driver
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Made sure all controllers are loaded

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Thomas Timm Andersen
2015-09-25 09:59:10 +02:00
parent 5c785af6c4
commit dc49deaf18
1 changed files with 5 additions and 2 deletions
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7
launch/ur5_ros_control.launch
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@@ -29,9 +29,12 @@
<!-- Load controller settings --> <!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/> <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<!-- Load controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_manager" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller position_based_position_trajectory_controller" /> output="screen" args="joint_state_controller force_torque_sensor_controller position_based_position_trajectory_controller" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load velocity_based_position_trajectory_controller" />
<!-- Convert joint states to /tf tranforms --> <!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>