Obbart/universal_robots_ros_driver
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Implemented optional headless mode that directly sends the robot program via its interface, avoiding URCaps usage

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Tristan Schnell
2019-09-26 12:15:25 +02:00
committed by Felix Mauch
parent 74e98d6af1
commit ea0908ed58
11 changed files with 74 additions and 8 deletions
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2
ur_rtde_driver/launch/ur_control.launch
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@@ -24,6 +24,7 @@
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<arg name="headless_mode" default="false"/>
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
@@ -32,6 +33,7 @@
<param name="script_file" value="$(arg urscript_file)"/>
<param name="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>
<param name="input_recipe_file" value="$(arg rtde_input_recipe_file)"/>
<param name="headless_mode" value="$(arg headless_mode)"/>
<param name="tf_prefix" value="$(arg tf_prefix)"/>
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->