Obbart/universal_robots_ros_driver
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Implement activation modes of robot_enable service

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Adds parameter 'require_activation' to configure when the service should be called (Always, Never, OnStartup).
This commit is contained in:
Henning Kayser
2017-08-16 16:56:21 +02:00
parent b57e327a09
commit f70255926b
3 changed files with 42 additions and 4 deletions
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6
launch/ur_common.launch
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@@ -15,6 +15,9 @@
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
<arg name="require_activation" default="Always" /> <!-- Always, Never, OnStartup -->
<!-- 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] -->
@@ -30,7 +33,8 @@
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<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)" />
</node>
</launch>