Obbart/universal_robots_ros_driver
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Adding JointGroupVelocityControllers (#224)

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* Adding JointGroupVelocityControllers.

* Correction re. ros_control in Readme. Add velocity_controllers dependency.
This commit is contained in:
AndyZe
2018-11-01 11:12:29 -05:00
committed by G.A. vd. Hoorn
parent 0a5ed0fbda
commit fb9dba2f10
8 changed files with 37 additions and 5 deletions
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2
launch/ur10_ros_control.launch
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@@ -44,7 +44,7 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

4
launch/ur3_ros_control.launch
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@@ -44,9 +44,9 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
</launch>

2
launch/ur5_ros_control.launch
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@@ -44,7 +44,7 @@
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load pos_based_pos_traj_controller" />
output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>