Obbart/universal_robots_ros_driver
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renamed package

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This commit is contained in:
Felix Mauch
2019-04-01 11:05:30 +02:00
parent 1f5d04b947
commit f34422f32b
74 changed files with 180 additions and 372 deletions
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2
launch/ur10_bringup.launch
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@@ -32,7 +32,7 @@
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>

2
launch/ur10_bringup_compatible.launch
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@@ -33,7 +33,7 @@
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>

2
launch/ur10_bringup_joint_limited.launch
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@@ -26,7 +26,7 @@
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
<include file="$(find ur_rtde_driver)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>

4
launch/ur10_ros_control.launch
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@@ -25,7 +25,7 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
@@ -40,7 +40,7 @@
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/>
<rosparam file="$(find ur_rtde_driver)/config/ur10_controllers.yaml" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

2
launch/ur3_bringup.launch
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@@ -32,7 +32,7 @@
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>

2
launch/ur3_bringup_joint_limited.launch
View File

@@ -26,7 +26,7 @@
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
<include file="$(find ur_rtde_driver)/launch/ur3_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>

4
launch/ur3_ros_control.launch
View File

@@ -25,7 +25,7 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
@@ -40,7 +40,7 @@
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur3_controllers.yaml" command="load"/>
<rosparam file="$(find ur_rtde_driver)/config/ur3_controllers.yaml" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

2
launch/ur5_bringup.launch
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@@ -32,7 +32,7 @@
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>

2
launch/ur5_bringup_compatible.launch
View File

@@ -33,7 +33,7 @@
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>

2
launch/ur5_bringup_joint_limited.launch
View File

@@ -26,7 +26,7 @@
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
<include file="$(find ur_rtde_driver)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>

4
launch/ur5_ros_control.launch
View File

@@ -25,7 +25,7 @@
<!-- Load hardware interface -->
<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
<param name="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
@@ -40,7 +40,7 @@
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<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"

2
launch/ur_common.launch
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@@ -35,7 +35,7 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- driver -->
<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
<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)" />