Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Use the scaled JTC from (potentially) ros2_controllers #303

Closed
wants to merge 1 commit into from
Closed

Use the scaled JTC from (potentially) ros2_controllers #303

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions ur_bringup/config/ur_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ controller_manager:
type: ur_controllers/GPIOController

speed_scaling_state_broadcaster:
type: ur_controllers/SpeedScalingStateBroadcaster
type: scaled_controllers/SpeedScalingStateBroadcaster

force_torque_sensor_broadcaster:
type: ur_controllers/ForceTorqueStateBroadcaster
Expand All @@ -17,7 +17,7 @@ controller_manager:
type: joint_trajectory_controller/JointTrajectoryController

scaled_joint_trajectory_controller:
type: ur_controllers/ScaledJointTrajectoryController
type: scaled_controllers/ScaledJointTrajectoryController

forward_velocity_controller:
type: velocity_controllers/JointGroupVelocityController
Expand Down
2 changes: 2 additions & 0 deletions ur_bringup/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@

<exec_depend>controller_manager</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>scaled_controllers</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>rviz2</exec_depend>
Expand Down
2 changes: 0 additions & 2 deletions ur_controllers/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
include_directories(include)

add_library(${PROJECT_NAME} SHARED
src/scaled_joint_trajectory_controller.cpp
src/speed_scaling_state_broadcaster.cpp
src/force_torque_sensor_broadcaster.cpp
src/gpio_controller.cpp)

Expand Down
10 changes: 0 additions & 10 deletions ur_controllers/controller_plugins.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,6 @@
The force torque state controller publishes the current force and torques
</description>
</class>
<class name="ur_controllers/SpeedScalingStateBroadcaster" type="ur_controllers::SpeedScalingStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
<description>
This controller publishes the readings of all available speed scaling factors.
</description>
</class>
<class name="ur_controllers/ScaledJointTrajectoryController" type="ur_controllers::ScaledJointTrajectoryController" base_class_type="controller_interface::ControllerInterface">
<description>
Scaled position-based joint trajectory controller.
</description>
</class>
<class name="ur_controllers/GPIOController" type="ur_controllers::GPIOController" base_class_type="controller_interface::ControllerInterface">
<description>
This controller publishes the Tool IO.
Expand Down
66 changes: 0 additions & 66 deletions ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
View file
Open in desktop

This file was deleted.

69 changes: 0 additions & 69 deletions ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
View file
Open in desktop

This file was deleted.

Loading