Obbart/universal_robots_ros_driver
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Expose tool pose/twist from RT when ros_control is active.

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Replicates #20 for the case where ros_control is active.
This commit is contained in:
Miguel Prada
2016-11-08 18:26:43 +01:00
parent 6788a56636
commit fe9762e9d5
5 changed files with 78 additions and 4 deletions
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6
launch/ur5_ros_control.launch
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@@ -12,6 +12,8 @@
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
@@ -26,7 +28,9 @@
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
<param name="use_ros_control" type="bool" value="True"/>
<param name="servoj_gain" type="double" value="750" />
<arg name="prefix" value="$(arg prefix)" />
<param name="prefix" value="$(arg prefix)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
</node>
<!-- Load controller settings -->