mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
adapted all ros_control launch files to start the driver correctly
This commit is contained in:
Tristan Schnell
committed by
Felix Mauch
Felix Mauch
parent
5eed6327ba
commit
ec0ec206c0
@@ -6,65 +6,29 @@
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="use_tool_communication" default="false"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
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<arg name="robot_ip"/>
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<arg name="reverse_port" default="50001"/>
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<!--<arg name="reverse_port" default="50001"/>-->
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<arg name="prefix" default="" />
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<arg name="stopped_controllers" default=""/>
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<!--<arg name="stopped_controllers" default=""/>-->
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<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
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<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur10_upload.launch">
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="prefix" value="$(arg prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="urscript_file" value="$(arg urscript_file)"/>
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<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
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</include>
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
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<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
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<param name="script_file" value="$(arg urscript_file)"/>
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<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
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<param name="use_tool_communication" value="false"/>
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<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
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<!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
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<!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->
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<!--<param name="max_velocity" type="double" value="$(arg max_velocity)"/>-->
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<!--<param name="use_ros_control" type="bool" value="True"/>-->
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<!--<param name="servoj_gain" type="double" value="750" />-->
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<!--<param name="prefix" value="$(arg prefix)" />-->
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<!--<param name="base_frame" type="str" value="$(arg base_frame)"/>-->
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<!--<param name="tool_frame" type="str" value="$(arg tool_frame)"/>-->
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<!--<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>-->
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(find ur_rtde_driver)/config/ur10_controllers.yaml" command="load"/>
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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="$(arg controllers)" />
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<!-- load other controller -->
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<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
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<!--output="screen" args="load $(arg stopped_controllers)" />-->
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
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<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
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<rosparam param="consistent_controllers">
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- "joint_state_controller"
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- "speed_scaling_state_controller"
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- "force_torque_sensor_controller"
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</rosparam>
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</node>
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</launch>
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@@ -6,21 +6,17 @@
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="use_tool_communication" default="true"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
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<arg name="robot_ip"/>
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<arg name="reverse_port" default="50001"/>
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<!--<arg name="reverse_port" default="50001"/>-->
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<arg name="prefix" default="" />
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<arg name="stopped_controllers" default=""/>
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<!--<arg name="stopped_controllers" default=""/>-->
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<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
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<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
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<arg name="use_tool_communication" default="true"/>
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<arg name="tool_voltage" default="12"/>
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<arg name="tool_parity" default="1"/>
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<arg name="tool_baud_rate" default="57600"/>
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@@ -28,38 +24,23 @@
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<arg name="tool_rx_idle_chars" default="1.5"/>
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<arg name="tool_tx_idle_chars" default="3.5"/>
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<!-- robot model -->
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<include file="$(find ur_e_description)/launch/ur10e_upload.launch">
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="prefix" value="$(arg prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="urscript_file" value="$(arg urscript_file)"/>
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<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
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<arg name="tool_voltage" value="$(arg tool_voltage)"/>
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<arg name="tool_parity" value="$(arg tool_parity)"/>
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<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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</include>
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
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<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
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<param name="script_file" value="$(arg urscript_file)"/>
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<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
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<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<param name="tool_voltage" value="$(arg tool_voltage)"/>
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<param name="tool_parity" value="$(arg tool_parity)"/>
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<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" command="load"/>
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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="$(arg controllers)" />
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<!-- load other controller -->
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<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
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<!--output="screen" args="load $(arg stopped_controllers)" />-->
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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</launch>
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@@ -6,51 +6,29 @@
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="use_tool_communication" default="false"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch"/>
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<arg name="robot_ip"/>
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<arg name="reverse_port" default="50001"/>
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<!--<arg name="reverse_port" default="50001"/>-->
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<arg name="prefix" default="" />
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
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<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur3_upload.launch">
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<!--<arg name="stopped_controllers" default=""/>-->
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<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
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<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="prefix" value="$(arg prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="urscript_file" value="$(arg urscript_file)"/>
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<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
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</include>
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
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<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
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<param name="reverse_port" type="int" value="$(arg reverse_port)" />
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<param name="min_payload" type="double" value="$(arg min_payload)"/>
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<param name="max_payload" type="double" value="$(arg max_payload)"/>
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<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
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<param name="use_ros_control" type="bool" value="True"/>
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<param name="servoj_gain" type="double" value="750" />
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<param name="prefix" value="$(arg prefix)" />
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<param name="base_frame" type="str" value="$(arg base_frame)"/>
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<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
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<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(find ur_rtde_driver)/config/ur3_controllers.yaml" command="load"/>
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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="$(arg controllers)" />
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<!-- load other controller -->
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<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
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output="screen" args="load $(arg stopped_controllers)" />
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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</launch>
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46
ur_rtde_driver/launch/ur3e_ros_control.launch
Normal file
46
ur_rtde_driver/launch/ur3e_ros_control.launch
Normal file
@@ -0,0 +1,46 @@
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<?xml version="1.0"?>
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<launch>
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<!-- GDB functionality -->
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<arg name="debug" default="false" />
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="use_tool_communication" default="true"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
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<arg name="robot_ip"/>
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<!--<arg name="reverse_port" default="50001"/>-->
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<arg name="limited" default="false"/>
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<arg name="prefix" default="" />
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<!--<arg name="stopped_controllers" default=""/>-->
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<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
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<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
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<arg name="tool_voltage" default="12"/>
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<arg name="tool_parity" default="1"/>
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<arg name="tool_baud_rate" default="57600"/>
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<arg name="tool_stop_bits" default="1"/>
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<arg name="tool_rx_idle_chars" default="1.5"/>
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<arg name="tool_tx_idle_chars" default="3.5"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="prefix" value="$(arg prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="urscript_file" value="$(arg urscript_file)"/>
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<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
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<arg name="tool_voltage" value="$(arg tool_voltage)"/>
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<arg name="tool_parity" value="$(arg tool_parity)"/>
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<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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</include>
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</launch>
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@@ -6,51 +6,29 @@
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="use_tool_communication" default="false"/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml"/>
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<arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch"/>
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<arg name="robot_ip"/>
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<arg name="reverse_port" default="50001"/>
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<!--<arg name="reverse_port" default="50001"/>-->
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="3.0"/>
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<arg name="prefix" default="" />
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
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<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur5_upload.launch">
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<!--<arg name="stopped_controllers" default=""/>-->
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<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
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<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="prefix" value="$(arg prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="urscript_file" value="$(arg urscript_file)"/>
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<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
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</include>
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
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<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
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<param name="reverse_port" type="int" value="$(arg reverse_port)" />
|
||||
<param name="min_payload" type="double" value="$(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" />
|
||||
<param name="prefix" value="$(arg prefix)" />
|
||||
<param name="base_frame" type="str" value="$(arg base_frame)"/>
|
||||
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
|
||||
<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
|
||||
</node>
|
||||
|
||||
<!-- Load controller settings -->
|
||||
<rosparam file="$(find ur_rtde_driver)/config/ur5_controllers.yaml" command="load"/>
|
||||
|
||||
<!-- spawn controller manager -->
|
||||
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args="$(arg controllers)" />
|
||||
|
||||
<!-- load other controller -->
|
||||
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
|
||||
output="screen" args="load $(arg stopped_controllers)" />
|
||||
|
||||
<!-- Convert joint states to /tf tranforms -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
|
||||
|
||||
</launch>
|
||||
|
||||
46
ur_rtde_driver/launch/ur5e_ros_control.launch
Normal file
46
ur_rtde_driver/launch/ur5e_ros_control.launch
Normal file
@@ -0,0 +1,46 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
|
||||
<!-- GDB functionality -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<arg name="use_tool_communication" default="true"/>
|
||||
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
|
||||
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
|
||||
<arg name="robot_ip"/>
|
||||
<!--<arg name="reverse_port" default="50001"/>-->
|
||||
<arg name="limited" default="false"/>
|
||||
<arg name="prefix" default="" />
|
||||
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
|
||||
<!--<arg name="stopped_controllers" default=""/>-->
|
||||
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
|
||||
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
|
||||
<arg name="tool_voltage" default="12"/>
|
||||
<arg name="tool_parity" default="1"/>
|
||||
<arg name="tool_baud_rate" default="57600"/>
|
||||
<arg name="tool_stop_bits" default="1"/>
|
||||
<arg name="tool_rx_idle_chars" default="1.5"/>
|
||||
<arg name="tool_tx_idle_chars" default="3.5"/>
|
||||
|
||||
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
|
||||
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
|
||||
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
|
||||
<arg name="robot_ip" value="$(arg robot_ip)"/>
|
||||
<arg name="limited" value="$(arg limited)"/>
|
||||
<arg name="prefix" value="$(arg prefix)"/>
|
||||
<arg name="controllers" value="$(arg controllers)"/>
|
||||
<arg name="urscript_file" value="$(arg urscript_file)"/>
|
||||
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
|
||||
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
|
||||
<arg name="tool_parity" value="$(arg tool_parity)"/>
|
||||
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
|
||||
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
|
||||
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
|
||||
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
@@ -1,60 +1,71 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Universal robot common bringup. Starts ur driver node and robot state
|
||||
publisher (translates joint positions to propper tfs).
|
||||
|
||||
Usage:
|
||||
ur_common.launch robot_ip:=<value>
|
||||
-->
|
||||
<launch>
|
||||
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
|
||||
|
||||
<!-- GDB functionality -->
|
||||
<arg name="debug" default="false" />
|
||||
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
||||
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
|
||||
|
||||
<arg name="use_tool_communication"/>
|
||||
<arg name="controller_config_file"/>
|
||||
<arg name="robot_description_file"/>
|
||||
<arg name="robot_ip"/>
|
||||
<arg name="reverse_port" default="50001"/>
|
||||
<arg name="min_payload" />
|
||||
<arg name="max_payload" />
|
||||
<!--<arg name="reverse_port" default="50001"/>-->
|
||||
<arg name="limited" default="false"/>
|
||||
<arg name="prefix" default="" />
|
||||
<arg name="use_ros_control" default="false"/>
|
||||
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
|
||||
<arg name="time_interval" default="0.008"/>
|
||||
<arg name="servoj_time" default="0.008" />
|
||||
<arg name="servoj_time_waiting" default="0.001" />
|
||||
<arg name="max_waiting_time" default="2.0" />
|
||||
<arg name="servoj_gain" default="100." />
|
||||
<arg name="servoj_lookahead_time" default="1." />
|
||||
<arg name="max_joint_difference" default="0.01" />
|
||||
<arg name="base_frame" default="$(arg prefix)base" />
|
||||
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
|
||||
<arg name="shutdown_on_disconnect" default="true" />
|
||||
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
|
||||
<!--<arg name="stopped_controllers" default=""/>-->
|
||||
<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_stop_bits" default="1"/>
|
||||
<arg name="tool_rx_idle_chars" default="1.5"/>
|
||||
<arg name="tool_tx_idle_chars" default="3.5"/>
|
||||
|
||||
<!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
|
||||
<arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
|
||||
<!-- robot model -->
|
||||
<include file="$(arg robot_description_file)">
|
||||
<arg name="limited" value="$(arg limited)"/>
|
||||
</include>
|
||||
|
||||
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
|
||||
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
|
||||
|
||||
<!-- Load hardware interface -->
|
||||
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
|
||||
<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
|
||||
<param name="script_file" value="$(arg urscript_file)"/>
|
||||
<param name="recipe_file" value="$(arg rtde_recipe_file)"/>
|
||||
<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
|
||||
<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
|
||||
<param name="tool_voltage" value="$(arg tool_voltage)"/>
|
||||
<param name="tool_parity" value="$(arg tool_parity)"/>
|
||||
<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
|
||||
<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
|
||||
<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
|
||||
<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
|
||||
</node>
|
||||
|
||||
<!-- Load controller settings -->
|
||||
<rosparam file="$(arg controller_config_file)" command="load"/>
|
||||
|
||||
<!-- spawn controller manager -->
|
||||
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
|
||||
output="screen" args="$(arg controllers)" />
|
||||
|
||||
<!-- load other controller -->
|
||||
<!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
|
||||
<!--output="screen" args="load $(arg stopped_controllers)" />-->
|
||||
|
||||
<!-- Convert joint states to /tf tranforms -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
|
||||
|
||||
<!-- driver -->
|
||||
<node name="ur_driver" pkg="ur_rtde_driver" type="ur_driver" output="screen">
|
||||
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
|
||||
<param name="prefix" type="str" value="$(arg prefix)" />
|
||||
<param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
|
||||
<param name="reverse_port" type="int" value="$(arg reverse_port)" />
|
||||
<param name="use_ros_control" type="bool" value="$(arg use_ros_control)"/>
|
||||
<param name="use_lowbandwidth_trajectory_follower" type="bool" value="$(arg use_lowbandwidth_trajectory_follower)"/>
|
||||
<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="$(arg max_velocity)" />
|
||||
<param name="time_interval" type="double" value="$(arg time_interval)" />
|
||||
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
|
||||
<param name="servoj_time_waiting" type="double" value="$(arg servoj_time_waiting)" />
|
||||
<param name="max_waiting_time" type="double" value="$(arg max_waiting_time)" />
|
||||
<param name="servoj_gain" type="double" value="$(arg servoj_gain)" />
|
||||
<param name="servoj_lookahead_time" type="double" value="$(arg servoj_lookahead_time)" />
|
||||
<param name="max_joint_difference" type="double" value="$(arg max_joint_difference)" />
|
||||
<param name="base_frame" type="str" value="$(arg base_frame)"/>
|
||||
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
|
||||
<param name="require_activation" type="str" value="$(arg require_activation)" />
|
||||
<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
|
||||
<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
|
||||
<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
|
||||
<rosparam param="consistent_controllers">
|
||||
- "joint_state_controller"
|
||||
- "speed_scaling_state_controller"
|
||||
- "force_torque_sensor_controller"
|
||||
</rosparam>
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
|
||||
Reference in New Issue
Block a user