Obbart/universal_robots_ros_driver
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added a node to startup RS485 interface

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and added it to the launchfiles.
This commit is contained in:
Felix Mauch
2019-06-12 17:57:40 +02:00
parent e54535bcd3
commit eb7b66929b
5 changed files with 61 additions and 8 deletions
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12
ur_rtde_driver/launch/ur_common.launch
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@@ -18,11 +18,13 @@
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="1"/>
<arg name="tool_baud_rate" default="57600"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
<arg name="tool_stop_bits" default="1"/>
<arg name="tool_rx_idle_chars" default="1.5"/>
<arg name="tool_tx_idle_chars" default="3.5"/>
<arg name="tool_device_name" default="/tmp/ttyUR"/>
<arg name="tool_tcp_port" default="54321"/>
<!-- robot model -->
<include file="$(arg robot_description_file)">
@@ -45,6 +47,12 @@
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
</node>
<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
<param name="device_name" value="$(arg tool_device_name)"/>
<param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</node>
<!-- Load controller settings -->
<rosparam file="$(arg controller_config_file)" command="load"/>