diff --git a/franka_control/config/franka_combined_control_node.yaml b/franka_control/config/franka_combined_control_node.yaml index 3793c2c767ff3bcff3ea5ce5c5f86a59d63502b7..5523e6e2a3624b7d0f48d40394dfdfbbccfca509 100644 --- a/franka_control/config/franka_combined_control_node.yaml +++ b/franka_control/config/franka_combined_control_node.yaml @@ -5,6 +5,7 @@ robot_hardware: panda_1: type: franka_hw/FrankaCombinableHW arm_id: panda_1 + robot_ip: robot_1.franka.de joint_names: - panda_1_joint1 - panda_1_joint2 @@ -37,6 +38,7 @@ panda_1: panda_2: type: franka_hw/FrankaCombinableHW arm_id: panda_2 + robot_ip: robot_2.franka.de joint_names: - panda_2_joint1 - panda_2_joint2 diff --git a/franka_control/launch/franka_combined_control.launch b/franka_control/launch/franka_combined_control.launch index 7c7616484addec0ca4c613b69f77e3615a108ed0..777fa126211c5b3c38e1d75c1eaba75ce03570d4 100644 --- a/franka_control/launch/franka_combined_control.launch +++ b/franka_control/launch/franka_combined_control.launch @@ -32,8 +32,8 @@ <group ns="$(arg robot_id)"> <rosparam command="load" file="$(arg controllers_file)" /> - <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" - args="(arg controllers_to_start)"/> + <node name="hw_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" + args="$(arg controllers_to_start)"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/> <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">