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1 | initial version |
Based on the advice from Adolfo this worked for me:
<?xml version="1.0"?>
<launch>
<!-- to switch arm sim from trajectory controller to position controller during runtime -->
<!-- unspawn arm sim trajectory controller -->
<node pkg="controller_manager" type="unspawner" name="traj_ctrl_unspawner" args="left_arm_traj_controller" />
<!-- spawn arm sim position controller -->
<node pkg="controller_manager" type="spawner" name="pos_ctrl_spawner"
args="left_arm_joint0_position_controller
left_arm_joint1_position_controller
left_arm_joint2_position_controller
left_arm_joint3_position_controller
left_arm_joint4_position_controller
left_arm_joint5_position_controller
left_arm_joint6_position_controller" />
</launch>
Then an alias:
alias enable_pos_ctrl='roslaunch mbot_gazebo_control switch_from_traj_to_pos_ctrl.launch'
Once you kill the launch file it return to its original controller (trajectory ctrl in my case).
2 | No.2 Revision |
Based on the advice from Adolfo @Adolfo Rodriguez this worked for me:
<?xml version="1.0"?>
<launch>
<!-- to switch arm sim from trajectory controller to position controller during runtime -->
<!-- unspawn arm sim trajectory controller -->
<node pkg="controller_manager" type="unspawner" name="traj_ctrl_unspawner" args="left_arm_traj_controller" />
<!-- spawn arm sim position controller -->
<node pkg="controller_manager" type="spawner" name="pos_ctrl_spawner"
args="left_arm_joint0_position_controller
left_arm_joint1_position_controller
left_arm_joint2_position_controller
left_arm_joint3_position_controller
left_arm_joint4_position_controller
left_arm_joint5_position_controller
left_arm_joint6_position_controller" />
</launch>
Then an alias:
alias enable_pos_ctrl='roslaunch mbot_gazebo_control switch_from_traj_to_pos_ctrl.launch'
Once you kill the launch file it return to its original controller (trajectory ctrl in my case).
3 | No.3 Revision |
Based on the advice from @Adolfo Rodriguez @adolfo-rodriguez-t this worked for me:
<?xml version="1.0"?>
<launch>
<!-- to switch arm sim from trajectory controller to position controller during runtime -->
<!-- unspawn arm sim trajectory controller -->
<node pkg="controller_manager" type="unspawner" name="traj_ctrl_unspawner" args="left_arm_traj_controller" />
<!-- spawn arm sim position controller -->
<node pkg="controller_manager" type="spawner" name="pos_ctrl_spawner"
args="left_arm_joint0_position_controller
left_arm_joint1_position_controller
left_arm_joint2_position_controller
left_arm_joint3_position_controller
left_arm_joint4_position_controller
left_arm_joint5_position_controller
left_arm_joint6_position_controller" />
</launch>
Then an alias:
alias enable_pos_ctrl='roslaunch mbot_gazebo_control switch_from_traj_to_pos_ctrl.launch'
Once you kill the launch file it return to its original controller (trajectory ctrl in my case).
4 | No.4 Revision |
Based on the advice from @adolfo-rodriguez-t Adolfo Rodriguez T. this worked for me:
<?xml version="1.0"?>
<launch>
<!-- to switch arm sim from trajectory controller to position controller during runtime -->
<!-- unspawn arm sim trajectory controller -->
<node pkg="controller_manager" type="unspawner" name="traj_ctrl_unspawner" args="left_arm_traj_controller" />
<!-- spawn arm sim position controller -->
<node pkg="controller_manager" type="spawner" name="pos_ctrl_spawner"
args="left_arm_joint0_position_controller
left_arm_joint1_position_controller
left_arm_joint2_position_controller
left_arm_joint3_position_controller
left_arm_joint4_position_controller
left_arm_joint5_position_controller
left_arm_joint6_position_controller" />
</launch>
Then an alias:
alias enable_pos_ctrl='roslaunch mbot_gazebo_control switch_from_traj_to_pos_ctrl.launch'
Once you kill the launch file it return to its original controller (trajectory ctrl in my case).
5 | No.5 Revision |
Based on the advice from Adolfo Rodriguez T. this worked for me:
<?xml version="1.0"?>
<launch>
<!-- to switch arm sim from trajectory controller to position controller during runtime -->
<!-- unspawn arm sim trajectory controller -->
<node pkg="controller_manager" type="unspawner" name="traj_ctrl_unspawner" args="left_arm_traj_controller" />
<!-- spawn arm sim position controller -->
<node pkg="controller_manager" type="spawner" name="pos_ctrl_spawner"
args="left_arm_joint0_position_controller
left_arm_joint1_position_controller
left_arm_joint2_position_controller
left_arm_joint3_position_controller
left_arm_joint4_position_controller
left_arm_joint5_position_controller
left_arm_joint6_position_controller" />
</launch>
Then an alias:
alias enable_pos_ctrl='roslaunch mbot_gazebo_control switch_from_traj_to_pos_ctrl.launch'
Once you kill the launch file it return returns to its original controller (trajectory ctrl in my case).