IO controler for clearpath & ur manipulator setup #287
Description
Describe the the feature you would like
I have not found a simple solution for connecting the manipulator IO with clearpath environment.
Missing GPIO controler after code generation.
control.yaml file:
a200_XXXX/manipulators:
controller_manager:
rosparameters:
update_rate: 500
joint_state_broadcaster:
type: 'joint_state_broadcaster/JointStateBroadcaster'
arm_0_joint_trajectory_controller:
type: 'joint_trajectory_controller/JointTrajectoryController'
arm_0_joint_trajectory_controller:
rosparameters:
joints: ['arm_0_shoulder_pan_joint', 'arm_0_shoulder_lift_joint', 'arm_0_elbow_joint', 'arm_0_wrist_1_joint', 'arm_0_wrist_2_joint', 'arm_0_wrist_3_joint']
command_interfaces: ['position']
state_interfaces: ['position', 'velocity']
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: False
constraints:
stopped_velocity_tolerance: 0.0
goal_time: 0.0
Other notes
From UR5 docks:
ur_controllers/GPIOController
This controller allows setting I/O ports, controlling some UR-specific functionality and publishes status information about the robot.