From d5424d7755c5ab209a8af87bac8fc60e0dce1aca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20J=C3=A4hne?= <christoph.jaehne@franka.de>
Date: Fri, 31 Jan 2020 09:07:41 +0100
Subject: [PATCH] removed default IPs in dual example control launch
---
franka_control/launch/franka_combined_control.launch | 2 +-
.../dual_arm_cartesian_impedance_example_controller.launch | 4 +++-
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/franka_control/launch/franka_combined_control.launch b/franka_control/launch/franka_combined_control.launch
index bfdf673..1197f94 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" />
+ <arg name="robot_ips" default="{}"/>
<!-- 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" />
diff --git a/franka_example_controllers/launch/dual_arm_cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/dual_arm_cartesian_impedance_example_controller.launch
index 7bdfd4c..9dafe44 100644
--- a/franka_example_controllers/launch/dual_arm_cartesian_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/dual_arm_cartesian_impedance_example_controller.launch
@@ -1,7 +1,9 @@
<?xml version="1.0" ?>
<launch>
+ <!--Be sure to pass the IPs of your pandas like robot_ips:={panda_1/robot_ip: <my_ip_1>, panda_2/robot_ip: <my_ip_2>} -->
+ <arg name="robot_ips" />
+
<arg name="robot_id" default="panda_dual" />
- <arg name="robot_ips" default="{panda_1/robot_ip: robot_1, panda_2/robot_ip: robot_2}" />
<arg name="rviz" default="true" />
<arg name="rqt" default="true" />
--
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