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kuka_control.launch

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Oct 2nd, 2017
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  1. <launch>
  2.  
  3.   <!-- Load joint controller configurations from YAML file to parameter server -->
  4.   <rosparam file="$(find kuka_kr3_control)/config/kuka_control.yaml" command="load"/>
  5.  
  6.   <!-- load the controllers -->
  7.   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
  8.    output="screen" ns="/kuka_kr3" args="joint_trajectory_controller joint_state_controller"/>
  9.  
  10.   <!-- convert joint states to TF transforms for rviz, etc -->
  11.   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
  12.    respawn="false" output="screen">
  13.     <remap from="/joint_states" to="/kuka_kr3/joint_states" />
  14.   </node>
  15.  
  16. </launch>
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