Skip to content
Snippets Groups Projects
Commit 44f7f75e authored by Robert Haschke's avatar Robert Haschke
Browse files

franka_control.launch: Start ROS controllers in correct namespace

parent a0f01905
No related branches found
No related tags found
No related merge requests found
......@@ -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="$(dirname)/demo.launch" pass_all_args="true">
......
......@@ -5,6 +5,6 @@
<rosparam file="$(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>
......@@ -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>
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment