qlin/sas_robot_driver_franka
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fixed bug in launch file

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This commit is contained in:
Juancho
2023-07-03 20:52:55 +09:00
parent fac3db693e
commit 64b508723c
3 changed files with 15 additions and 3 deletions
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2
cfg/sas_robot_driver_franka_1.yaml
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@@ -1,5 +1,5 @@
"robot_ip_address": "172.16.0.2" "robot_ip_address": "172.16.0.2"
"robot_mode": "VelocityControl" "robot_mode": "PositionControl"
"robot_port": 5007 "robot_port": 5007
"robot_speed": 20.0 "robot_speed": 20.0
"thread_sampling_time_nsec": 4000000 "thread_sampling_time_nsec": 4000000

14
launch/sas_robot_driver_franka_1.launch
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@@ -1,5 +1,17 @@
<launch> <launch>
<rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_franka_1.yaml" command="load"/>
<node pkg="sas_robot_driver_franka" type="sas_robot_driver_franka_node" name="franka_1"> <node pkg="sas_robot_driver_franka" type="sas_robot_driver_franka_node" name="franka_1">
<rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_franka_1.yaml" command="load"
/>
</node> </node>
</launch> </launch>

2
src/sas_robot_driver_franka_node.cpp
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@@ -71,7 +71,7 @@ int main(int argc, char **argv)
sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration; sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address); sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
sas::get_ros_param(nh,"/robot_mode", robot_driver_franka_configuration.mode, false); sas::get_ros_param(nh,"/robot_mode", robot_driver_franka_configuration.mode);
sas::RobotDriverROSConfiguration robot_driver_ros_configuration; sas::RobotDriverROSConfiguration robot_driver_ros_configuration;