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

Jump to bottom

Updated for primary interface improvements #50

Closed
wants to merge 1 commit into from
Closed

Updated for primary interface improvements #50

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
2 changes: 2 additions & 0 deletions urdf/ur.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
simulated_robot:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
Expand Down Expand Up @@ -40,6 +41,7 @@
<param name="output_recipe_filename">${output_recipe_filename}</param>
<param name="input_recipe_filename">${input_recipe_filename}</param>
<param name="headless_mode">${headless_mode}</param>
<param name="simulated_robot">${simulated_robot}</param>
<param name="reverse_port">${reverse_port}</param>
<param name="script_sender_port">${script_sender_port}</param>
<param name="reverse_ip">${reverse_ip}</param>
Expand Down
2 changes: 2 additions & 0 deletions urdf/ur.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
<xacro:arg name="safety_k_position" default="20"/>
<!-- ros2_control related parameters -->
<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="simulated_robot" default="false" />
<xacro:arg name="robot_ip" default="0.0.0.0" />
<xacro:arg name="script_filename" default=""/>
<xacro:arg name="output_recipe_filename" default=""/>
Expand Down Expand Up @@ -72,6 +73,7 @@
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
simulated_robot="$(arg simulated_robot)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
Expand Down
2 changes: 2 additions & 0 deletions urdf/ur_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
simulated_robot:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
Expand Down Expand Up @@ -108,6 +109,7 @@
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
simulated_robot="${simulated_robot}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"
Expand Down