diff --git a/ur_e_gazebo/controller/arm_controller_ur10e.yaml b/ur_e_gazebo/controller/arm_controller_ur10e.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_e_gazebo/controller/arm_controller_ur10e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur10e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/controller/arm_controller_ur3e.yaml b/ur_e_gazebo/controller/arm_controller_ur3e.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_e_gazebo/controller/arm_controller_ur3e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur3e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/controller/arm_controller_ur5e.yaml b/ur_e_gazebo/controller/arm_controller_ur5e.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_e_gazebo/controller/arm_controller_ur5e.yaml +++ b/ur_e_gazebo/controller/arm_controller_ur5e.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_e_gazebo/launch/ur10e.launch b/ur_e_gazebo/launch/ur10e.launch index 92e38eb2ae2cb6f955e9969295fdff4a3a1ef610..ec37fd53665bf7f822e156ed279ead641a9ad49a 100644 --- a/ur_e_gazebo/launch/ur10e.launch +++ b/ur_e_gazebo/launch/ur10e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur10e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/launch/ur3e.launch b/ur_e_gazebo/launch/ur3e.launch index 63bc42a92a9cc20c41251cdef32177d07a82b8ab..31bc8dcb82d8efa25f81b5725da0fad43814e39f 100644 --- a/ur_e_gazebo/launch/ur3e.launch +++ b/ur_e_gazebo/launch/ur3e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur3e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/launch/ur5e.launch b/ur_e_gazebo/launch/ur5e.launch index b58860fa24b105a857e069a20006504ce146d738..756549339ca8be65043bfad3a87dcf91479a463f 100644 --- a/ur_e_gazebo/launch/ur5e.launch +++ b/ur_e_gazebo/launch/ur5e.launch @@ -21,7 +21,11 @@ <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur5e.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml index d1cb64f58eb4432f1017e9af4838dbb1270a37f3..09197961bae37b39b40558d9b8e5d527441b9ff2 100644 --- a/ur_e_gazebo/package.xml +++ b/ur_e_gazebo/package.xml @@ -20,15 +20,16 @@ <buildtool_depend>catkin</buildtool_depend> <test_depend>roslaunch</test_depend> - <run_depend>ur_e_description</run_depend> - <run_depend>gazebo_ros</run_depend> - <run_depend>gazebo_ros_control</run_depend> + <run_depend>controller_manager</run_depend> + <run_depend>effort_controllers</run_depend> <run_depend>joint_state_controller</run_depend> <run_depend>joint_trajectory_controller</run_depend> - <run_depend>effort_controllers</run_depend> + <run_depend>gazebo_ros</run_depend> + <run_depend>gazebo_ros_control</run_depend> + <run_depend>position_controllers</run_depend> <run_depend>robot_state_publisher</run_depend> <run_depend>rostopic</run_depend> - <run_depend>controller_manager</run_depend> + <run_depend>ur_e_description</run_depend> <export> diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_gazebo/controller/arm_controller_ur10.yaml +++ b/ur_gazebo/controller/arm_controller_ur10.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_gazebo/controller/arm_controller_ur3.yaml +++ b/ur_gazebo/controller/arm_controller_ur3.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml index 7ab88703ef799b27d600e47bb222450d21f0eb32..fb7b3d4fe73e6541c70e2c2682be26c97ba61c05 100644 --- a/ur_gazebo/controller/arm_controller_ur5.yaml +++ b/ur_gazebo/controller/arm_controller_ur5.yaml @@ -19,3 +19,13 @@ arm_controller: stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch index 182bb5c48b5c9ff99863f2ca68cc8f3e1d31ee1d..bd422b937abdbc2b9bd8bb9fff7ed8a8b8457c15 100644 --- a/ur_gazebo/launch/ur10.launch +++ b/ur_gazebo/launch/ur10.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch index 3b1cae68b582b0b228a664a085d4eeefa78d3783..076e1dcc422f5475dca6c1cca7343e94e547e3ec 100644 --- a/ur_gazebo/launch/ur3.launch +++ b/ur_gazebo/launch/ur3.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch index 347cd93c0932021a41402bfc5d4a23facadb695c..2dc3291b781b51d5efb772d24dd49089ed67dcac 100644 --- a/ur_gazebo/launch/ur5.launch +++ b/ur_gazebo/launch/ur5.launch @@ -21,7 +21,11 @@ <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> + <!-- start this controller --> <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur5.yaml" command="load"/> <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/> + <!-- load other controllers --> + <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" /> + </launch> diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml index 0692d49860c0f096971b301dd9bdc066f0c1a042..0bc1f0ce4cdd0ca5c181435ee6a20d4ec69dd592 100644 --- a/ur_gazebo/package.xml +++ b/ur_gazebo/package.xml @@ -20,16 +20,16 @@ <buildtool_depend>catkin</buildtool_depend> <test_depend>roslaunch</test_depend> - <run_depend>ur_description</run_depend> + <run_depend>controller_manager</run_depend> + <run_depend>effort_controllers</run_depend> <run_depend>gazebo_ros</run_depend> <run_depend>gazebo_ros_control</run_depend> <run_depend>joint_state_controller</run_depend> <run_depend>joint_trajectory_controller</run_depend> - <run_depend>effort_controllers</run_depend> + <run_depend>position_controllers</run_depend> <run_depend>robot_state_publisher</run_depend> <run_depend>rostopic</run_depend> - <run_depend>controller_manager</run_depend> - + <run_depend>ur_description</run_depend> <export> </export>