From 44f7f75e3a1ae6de69fbca34f6457ae0a1b15c57 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 7 Apr 2022 17:39:12 +0200
Subject: [PATCH] franka_control.launch: Start ROS controllers in correct
namespace
---
launch/franka_control.launch | 3 +++
launch/ros_controllers.launch | 2 +-
launch/simple_moveit_controller_manager.launch.xml | 2 --
3 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/launch/franka_control.launch b/launch/franka_control.launch
index efb0c20..de71abb 100644
--- a/launch/franka_control.launch
+++ b/launch/franka_control.launch
@@ -2,8 +2,11 @@
<launch>
<!-- Launch real-robot control -->
<include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
+
<!-- By default use joint position controllers -->
<arg name="transmission" default="position" />
+ <!-- Start ROS controllers -->
+ <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
<!-- as well as MoveIt demo -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch
index 8fd5760..47806e5 100644
--- a/launch/ros_controllers.launch
+++ b/launch/ros_controllers.launch
@@ -5,6 +5,6 @@
<rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load" subst_value="true"/>
<!-- Load and start the controllers -->
- <node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
args="$(arg transmission)_joint_trajectory_controller" />
</launch>
diff --git a/launch/simple_moveit_controller_manager.launch.xml b/launch/simple_moveit_controller_manager.launch.xml
index 3640908..44e6d6c 100644
--- a/launch/simple_moveit_controller_manager.launch.xml
+++ b/launch/simple_moveit_controller_manager.launch.xml
@@ -4,6 +4,4 @@
<!-- Load controller list to the parameter server -->
<rosparam subst_value="true" file="$(find panda_moveit_config)/config/simple_moveit_controllers.yaml" />
- <!-- Start ROS controllers -->
- <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
</launch>
--
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