Obbart/universal_robots_ros_driver
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Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47

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Thomas Timm Andersen
2016-08-30 11:49:25 +02:00
parent d8012be697
commit e785ce0860
6 changed files with 52 additions and 9 deletions
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3
launch/ur10_ros_control.launch
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@@ -19,12 +19,13 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<param name="servoj_gain" type="double" value="750" />
<arg name="prefix" value="$(arg prefix)" />
</node>

3
launch/ur3_ros_control.launch
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@@ -19,12 +19,13 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<param name="servoj_gain" type="double" value="750" />
<arg name="prefix" value="$(arg prefix)" />
</node>

3
launch/ur5_ros_control.launch
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@@ -19,12 +19,13 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<param name="servoj_gain" type="double" value="750" />
<arg name="prefix" value="$(arg prefix)" />
</node>