Obbart/universal_robots_ros_driver
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Documented launch files

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This commit is contained in:
Felix Mauch
2019-09-30 09:23:08 +02:00
parent 2c3e91c95f
commit f6b52c3d29
10 changed files with 124 additions and 137 deletions
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8
ur_rtde_driver/src/ros/hardware_interface.cpp
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@@ -64,6 +64,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
return false;
}
robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
// Path to the urscript code that will be sent to the robot. This is a required parameter.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
@@ -91,8 +93,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
// message gets published here. So this is equivalent to the information whether the robot accepts
// commands from ROS side.
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
tcp_transform_.header.frame_id = "base";
tcp_transform_.child_frame_id = "tool0_controller";
tcp_transform_.header.frame_id = tf_prefix_ + "base";
tcp_transform_.child_frame_id = tf_prefix_ + "tool0_controller";
// Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on
// e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as
@@ -244,7 +246,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
"wrench", "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
"wrench", tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
// Register interfaces
registerInterface(&js_interface_);