Commit cbe231e7 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

update ilc

parent 5489266c
...@@ -20,16 +20,28 @@ ...@@ -20,16 +20,28 @@
<arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/> <arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/>
<arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/> <arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/>
<arg name="tf_prefix" value=""/> <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="stopped_controllers" default="joint_group_vel_controller"/>
<arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/> <arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/>
</include> </include>
<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" > <node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam> <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>
<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> </launch>
...@@ -65,7 +65,7 @@ ...@@ -65,7 +65,7 @@
</member> </member>
</meta> </meta>
<data> <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> <member id="description">The constant setpoints for the respective measurement</member>
</type> </type>
</data> </data>
......
...@@ -88,7 +88,7 @@ class Ilc_serviceproxy: ...@@ -88,7 +88,7 @@ class Ilc_serviceproxy:
### Read Error data ### Read Error data
data_org, header = ilc_lib.read(path) 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) return TriggerILCResponse(success=True, message=message)
......
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