From 0538dae694342320a9c60db71114d8cd0c25f78c Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Mon, 8 Jun 2020 13:55:28 +0200 Subject: [PATCH] align names with ros package --- config/panda_control.yaml | 3 ++- launch/simulation.launch | 5 ++--- src/robot_state_initializer.cpp | 8 ++++---- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/config/panda_control.yaml b/config/panda_control.yaml index 94c10f3..65fcaf7 100644 --- a/config/panda_control.yaml +++ b/config/panda_control.yaml @@ -3,7 +3,7 @@ type: joint_state_controller/JointStateController publish_rate: 100 - panda_arm_controller: + position_joint_trajectory_controller: type: position_controllers/JointTrajectoryController joints: - panda_joint1 @@ -26,6 +26,7 @@ - panda_finger_joint2 state_publish_rate: 25 + joint_position_controller: type: panda_simulation/JointPositionController arm_id: panda diff --git a/launch/simulation.launch b/launch/simulation.launch index f1972ca..3678504 100644 --- a/launch/simulation.launch +++ b/launch/simulation.launch @@ -9,9 +9,8 @@ <arg name="load_gripper" default="true" /> <!-- 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 --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" /> - <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" /> + <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" /> + <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" /> <!--launch GAZEBO with own world configuration --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> diff --git a/src/robot_state_initializer.cpp b/src/robot_state_initializer.cpp index 4c6626d..49932e2 100644 --- a/src/robot_state_initializer.cpp +++ b/src/robot_state_initializer.cpp @@ -62,11 +62,11 @@ int main(int argc, char **argv) { srv_switch_controller.request.start_controllers = start_controllers; if (switch_controller_client.call(srv_switch_controller)) { - ROS_INFO_STREAM("Success switching controllers from " << stream_stop_controllers.str() << " to " - << stream_start_controllers.str()); + ROS_INFO_STREAM("Success switching controllers from " << stream_start_controllers.str() << " to " + << stream_stop_controllers.str()); } else { - ROS_WARN_STREAM("Error switching controllers from " << stream_stop_controllers.str() << " to " - << stream_start_controllers.str()); + ROS_WARN_STREAM("Error switching controllers from " << stream_start_controllers.str() << " to " + << stream_stop_controllers.str()); return -1; } -- GitLab