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Remove scaled_joint_trajectory_controller #22

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62 changes: 0 additions & 62 deletions my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,12 +27,6 @@ controller_manager:
bob_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController

alice_scaled_joint_trajectory_controller:
type: ur_controllers/ScaledJointTrajectoryController

bob_scaled_joint_trajectory_controller:
type: ur_controllers/ScaledJointTrajectoryController

forward_velocity_controller:
type: velocity_controllers/JointGroupVelocityController

Expand Down Expand Up @@ -142,62 +136,6 @@ bob_joint_trajectory_controller:
bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }

alice_scaled_joint_trajectory_controller:
ros__parameters:
joints:
- alice_shoulder_pan_joint
- alice_shoulder_lift_joint
- alice_elbow_joint
- alice_wrist_1_joint
- alice_wrist_2_joint
- alice_wrist_3_joint
command_interfaces:
- position
state_interfaces:
- position
- velocity
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
constraints:
stopped_velocity_tolerance: 0.2
goal_time: 0.0
alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
alice_elbow_joint: { trajectory: 0.2, goal: 0.1 }
alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor

bob_scaled_joint_trajectory_controller:
ros__parameters:
joints:
- bob_shoulder_pan_joint
- bob_shoulder_lift_joint
- bob_elbow_joint
- bob_wrist_1_joint
- bob_wrist_2_joint
- bob_wrist_3_joint
command_interfaces:
- position
state_interfaces:
- position
- velocity
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
constraints:
stopped_velocity_tolerance: 0.2
goal_time: 0.0
bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
bob_elbow_joint: { trajectory: 0.2, goal: 0.1 }
bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor

alice_forward_velocity_controller:
ros__parameters:
joints:
Expand Down
4 changes: 2 additions & 2 deletions my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -396,14 +396,14 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"alice_initial_joint_controller",
default_value="alice_scaled_joint_trajectory_controller",
default_value="alice_joint_trajectory_controller",
description="Initially loaded robot controller for the alice robot arm.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"bob_initial_joint_controller",
default_value="bob_scaled_joint_trajectory_controller",
default_value="bob_joint_trajectory_controller",
description="Initially loaded robot controller for the bob robot arm.",
)
)
Expand Down
2 changes: 1 addition & 1 deletion my_robot_cell/doc/build_moveit_config.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ We'll skip setting up ros2_control related points, since we've already configure
control package.

In the **MoveIt Controllers** step we setup our desired controller to match the name
"scaled_joint_trajectory_controller":
"joint_trajectory_controller":

.. image:: moveit_controllers.png
:alt: MoveIt! coontrollers configuration
Expand Down
4 changes: 2 additions & 2 deletions my_robot_cell/my_robot_cell_control/config/ros2_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ controller_manager:
force_torque_sensor_broadcaster:
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

scaled_joint_trajectory_controller:
joint_trajectory_controller:
type: ur_controllers/ScaledJointTrajectoryController

forward_velocity_controller:
Expand Down Expand Up @@ -44,7 +44,7 @@ force_torque_sensor_broadcaster:
frame_id: ur20_tool0
topic_name: ft_data

scaled_joint_trajectory_controller:
joint_trajectory_controller:
ros__parameters:
joints:
- ur20_shoulder_pan_joint
Expand Down
4 changes: 2 additions & 2 deletions my_robot_cell/my_robot_cell_moveit_config/config/moveit_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll

moveit_simple_controller_manager:
controller_names:
- scaled_joint_trajectory_controller
- joint_trajectory_controller

scaled_joint_trajectory_controller:
joint_trajectory_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
Expand Down
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