Obbart/universal_robots_ros_driver
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Code Releases Activity

Merge remote-tracking branch 'thomas_timm/master' into ur3_support

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Robot Printer
2015-10-28 10:06:31 +01:00
parent 58361900b8 c3f3da922a
commit fd2d13ef84
22 changed files with 996 additions and 307 deletions
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8
launch/ur10_ros_control.launch
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@@ -25,17 +25,17 @@
</node>
<!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
<rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/>
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" />
output="screen" args="load pos_based_pos_traj_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
</launch>

4
launch/ur5_ros_control.launch
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@@ -30,11 +30,11 @@
<!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
<!-- load other controller -->
<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
output="screen" args="load position_based_position_trajectory_controller" />
output="screen" args="load pos_based_pos_traj_controller" />
<!-- Convert joint states to /tf tranforms -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>