From 2680d89dfeb8f1b94567ec85577dfcbaf7124231 Mon Sep 17 00:00:00 2001
From: jaeh_ch <christoph.jaehne@franka.de>
Date: Tue, 3 Sep 2019 11:44:01 +0200
Subject: [PATCH] added missing ip and fixed controllers arg
---
franka_control/config/franka_combined_control_node.yaml | 2 ++
franka_control/launch/franka_combined_control.launch | 4 ++--
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/franka_control/config/franka_combined_control_node.yaml b/franka_control/config/franka_combined_control_node.yaml
index 3793c2c..5523e6e 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 7c76164..777fa12 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">
--
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