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 | 1 | initial version |
No, this is not correct.
ur_modern_driver only provides an action server.
Your node(s) is (are) the action client(s).
| | 2 | No.2 Revision |
No, this is not correct.
ur_modern_driver only provides an action server.
Your node(s) is (are) the action client(s).
I've put
Joint velocitiesas by-default the driver publishesspeedjcommands.
that is also not correct.
When not using ros_control, the driver uses servoj(..) in a small program that runs on the controller.
When using ros_control, it either uses speedj(..) when the velocity interface of the hw iface is used, or servoj(..) again for the position part.
The driver also doesn't publish anything to the controller. It's a regular TCP/IP connection over which a minimal, custom protocol is run.
| | 3 | No.3 Revision |
No, this is not correct.
ur_modern_driver only provides an action server.
Your node(s) is (are) the action client(s).
I've put
Joint velocitiesas by-default the driver publishesspeedjcommands.
that is also not correct.
When not using ros_control, the driver uses servoj(..) in a small program that runs on the controller.
When using ros_control, it either uses speedj(..) when the velocity interface of the hw iface is used, or servoj(..) again for the position part.
The driver also doesn't publish anything to the controller. It's a regular TCP/IP connection over which a minimal, custom protocol is run.
Edit: it's a bit lame, but "read the source" is probably still good advice in this case: ThomasTimm/ur_modern_driver.
But as I wrote before: you might want to look into the Zagitta fork (PR#120).
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