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I developped a controller with cpp i teseted this controller in Gazebo its working good, but the problem in the real robot (arm universal robot UR10) i don't know how to run this controller , because in gazebo i run the controller with controller_manager

"<node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn im_control" respawn="false" output="screen"/>"

but in the real robot ( arm ur10) how can i switch the controllers and how can i run this one to make a test.

I hope that you can explain me the procedure to run the controller in the real robot . thanks for you understanding.