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Commit 0538dae6 authored by Johannes Mey's avatar Johannes Mey
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align names with ros package

parent c479a586
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Tags 0.3.4
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...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
type: joint_state_controller/JointStateController type: joint_state_controller/JointStateController
publish_rate: 100 publish_rate: 100
panda_arm_controller: position_joint_trajectory_controller:
type: position_controllers/JointTrajectoryController type: position_controllers/JointTrajectoryController
joints: joints:
- panda_joint1 - panda_joint1
...@@ -26,6 +26,7 @@ ...@@ -26,6 +26,7 @@
- panda_finger_joint2 - panda_finger_joint2
state_publish_rate: 25 state_publish_rate: 25
joint_position_controller: joint_position_controller:
type: panda_simulation/JointPositionController type: panda_simulation/JointPositionController
arm_id: panda arm_id: panda
......
...@@ -9,9 +9,8 @@ ...@@ -9,9 +9,8 @@
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<!-- don't include franka_control, but include the controller stuff from there --> <!-- don't include franka_control, but include the controller stuff from there -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" /> <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" /> <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<!--launch GAZEBO with own world configuration --> <!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
......
...@@ -62,11 +62,11 @@ int main(int argc, char **argv) { ...@@ -62,11 +62,11 @@ int main(int argc, char **argv) {
srv_switch_controller.request.start_controllers = start_controllers; srv_switch_controller.request.start_controllers = start_controllers;
if (switch_controller_client.call(srv_switch_controller)) { if (switch_controller_client.call(srv_switch_controller)) {
ROS_INFO_STREAM("Success switching controllers from " << stream_stop_controllers.str() << " to " ROS_INFO_STREAM("Success switching controllers from " << stream_start_controllers.str() << " to "
<< stream_start_controllers.str()); << stream_stop_controllers.str());
} else { } else {
ROS_WARN_STREAM("Error switching controllers from " << stream_stop_controllers.str() << " to " ROS_WARN_STREAM("Error switching controllers from " << stream_start_controllers.str() << " to "
<< stream_start_controllers.str()); << stream_stop_controllers.str());
return -1; return -1;
} }
......
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