updating the controller stopper node and urscript file location (#814)

* updating the controller stopper node and urscript file location * Updating demo (#812) * demo updates * demo updates * demo updates * linter * linter * linter * updates * updating scripts * adding method descriptions * adding method descriptions * linter * linter * small cleanups * linted * review fixes --------- Co-authored-by: Beatriz Leon <[email protected]> Co-authored-by: Ben Starmer-Smith <[email protected]> --------- Co-authored-by: Beatriz Leon <[email protected]> Co-authored-by: Ben Starmer-Smith <[email protected]>
shadow-robot · Mar 7, 2023 · 4b69bd6 · 4b69bd6
1 parent edb2874
commit 4b69bd6
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Showing 5 changed files with 6 additions and 6 deletions.
diff --git a/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml
@@ -51,7 +51,7 @@ la_sr_ur_robot_hw:
 
   output_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_output_recipe.txt
 
-  script_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/ros_control.urscript
+  script_file: /opt/ros/noetic/share/ur_client_library/resources/external_control.urscript
 
   use_tool_communication: false
 

diff --git a/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml
@@ -51,7 +51,7 @@ la_sr_ur_robot_hw:
 
   output_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_output_recipe.txt
 
-  script_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/ros_control.urscript
+  script_file: /opt/ros/noetic/share/ur_client_library/resources/external_control.urscript
 
   use_tool_communication: false
 

diff --git a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
@@ -51,7 +51,7 @@ ra_sr_ur_robot_hw:
 
   output_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_output_recipe.txt
 
-  script_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/ros_control.urscript
+  script_file: /opt/ros/noetic/share/ur_client_library/resources/external_control.urscript
 
   use_tool_communication: false
 

diff --git a/sr_robot_launch/launch/bimanual_controller_stopper.launch b/sr_robot_launch/launch/bimanual_controller_stopper.launch
@@ -24,7 +24,7 @@
 -->
 
 <launch>
-  <node name="controller_stopper_right" pkg="controller_stopper" type="node" respawn="false" output="screen">
+  <node name="controller_stopper_right" pkg="ur_robot_driver" type="controller_stopper_node" respawn="false" output="screen">
     <remap from="robot_running" to="ra_sr_ur_robot_hw/robot_program_running"/>
     <rosparam param="consistent_controllers">
        - "la_trajectory_controller"
@@ -78,7 +78,7 @@
     </rosparam>
   </node>
 
-  <node name="controller_stopper_left" pkg="controller_stopper" type="node" respawn="false" output="screen">
+  <node name="controller_stopper_left" pkg="ur_robot_driver" type="controller_stopper_node" respawn="false" output="screen">
     <remap from="robot_running" to="la_sr_ur_robot_hw/robot_program_running"/>
     <rosparam param="consistent_controllers">
        - "ra_trajectory_controller"

diff --git a/sr_robot_launch/launch/unimanual_controller_stopper.launch b/sr_robot_launch/launch/unimanual_controller_stopper.launch
@@ -29,7 +29,7 @@
   <arg name="hand_prefix" value="$(arg side_letter)h"/>
   <arg name="arm_prefix" value="$(arg side_letter)a"/>
 
-  <node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
+  <node name="controller_stopper" pkg="ur_robot_driver" type="controller_stopper_node" respawn="false" output="screen">
     <remap from="robot_running" to="$(arg arm_prefix)_sr_ur_robot_hw/robot_program_running"/>
     <rosparam param="consistent_controllers" if="$(eval arg('hand_prefix') == 'rh')">
        - "ra_force_torque_sensor_controller"