update ilc

launch/bringup_ur5.launch

@@ -20,16 +20,28 @@
             <arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/>
             <arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/>
             <arg name="tf_prefix" value=""/>
-            <arg name="controllers" default="joint_state_controller speed_scaling_state_controller force_torque_sensor_controller pitasc_vel_control"/>
+            <arg name="controllers" default="joint_state_controller speed_scaling_state_controller pitasc_vel_control"/>
             <arg name="stopped_controllers" default="joint_group_vel_controller"/>
 
             <arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/>
         </include>
 
-
 <node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
     <rosparam param="T">8</rosparam>
-    <!-- <rosparam param="folder">/tmp/ilc_folder</rosparam> -->
+    <rosparam param="folder">/home/ipa325/Documents/ilc_Datas</rosparam>
+</node>
+
+<node pkg="weiss_kms40" type="Kms40Driver" name="kms40" output="screen" cwd="node">
+    <rosparam param="host">192.168.0.30</rosparam>
+    <rosparam param="port">1000</rosparam>
+    <rosparam param="frame">kms40</rosparam>
 </node>
 
+<node name="kms_frame_meas" pkg="tf" type="static_transform_publisher"
+    args="0 0 0 1 0 0 0 ee_link kms40_meas 100"/>
+
+<node name="kms_frame_rel" pkg="tf" type="static_transform_publisher"
+     args="0 0 0 1 1 1 1 kms40_meas kms40 100"/>
+
+
 </launch>

models/ilc_scripts.xml

@@ -65,7 +65,7 @@
                 </member>
             </meta>
             <data>
-                <type id="setpoint" prototype="list:float_parameter">
+                <type id="setpoint" prototype="float_csv">
                     <member id="description">The constant setpoints for the respective measurement</member>
                 </type>
             </data>

scripts/ilc_lib/ilc_rosproxy.py

@@ -88,7 +88,7 @@ class Ilc_serviceproxy:
             ### Read Error data
             data_org, header = ilc_lib.read(path)
 
-            self.ilc_calc(req, data_org, header)
+            message = self.ilc_calc(req, data_org, header)
 
             return TriggerILCResponse(success=True, message=message)