This would be the same as with other ros_control
based hardware_interface
drivers: by changing the configuration of which controllers are loaded and started vs loaded and stopped.
For the UR3 with ur_modern_driver
that can be done with the controllers
and stopped_controllers
launch file arguments here:
<arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
<arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
as you can see, by default the joint_state_controller
, force_torque_sensor_controller
and the vel_based_pos_traj_controller
are loaded and started, and the pos_based_pos_traj_controller
and joint_group_vel_controller
are loaded but in the stopped state.
You'll want to change that such that pos_based_pos_traj_controller
is loaded and started and vel_based_pos_traj_controller
is loaded but stopped.