From 4e7a7cbacb6e6d50b7b43376264f9b9b7dea1d6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Fri, 31 Jan 2020 08:51:02 +0100
Subject: [PATCH] removed robot ips from combined control yaml, ips mandatory
in launch
---
franka_control/config/franka_combined_control_node.yaml | 2 --
franka_control/launch/franka_combined_control.launch | 2 +-
2 files changed, 1 insertion(+), 3 deletions(-)
diff --git a/franka_control/config/franka_combined_control_node.yaml b/franka_control/config/franka_combined_control_node.yaml
index 9ca2df8..fa103fa 100644
--- a/franka_control/config/franka_combined_control_node.yaml
+++ b/franka_control/config/franka_combined_control_node.yaml
@@ -5,7 +5,6 @@ robot_hardware:
panda_1:
type: franka_hw/FrankaCombinableHW
arm_id: panda_1
- robot_ip: robot_1
joint_names:
- panda_1_joint1
- panda_1_joint2
@@ -38,7 +37,6 @@ panda_1:
panda_2:
type: franka_hw/FrankaCombinableHW
arm_id: panda_2
- robot_ip: robot_2
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 12ff4f4..bfdf673 100644
--- a/franka_control/launch/franka_combined_control.launch
+++ b/franka_control/launch/franka_combined_control.launch
@@ -17,7 +17,7 @@
<!-- Optional arg to manually configure the ips of all robots, overwriting ips that are configured in hw_config_file -->
<!-- The ips must be set as dictionary like {<arm_id_1>/robot_ip: <my_ip_1>, <arm_id_2>/robot_ip: <my_ip_2>} -->
- <arg name="robot_ips" default="{}" />
+ <arg name="robot_ips" />
<!-- The config file containing the parameterization for all controllers to start with this launch file -->
<arg name="controllers_file" default="$(find franka_control)/config/default_combined_controllers.yaml" />
--
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