Default path to ur_client_library urscript (#316)

livanov93 · Felix Exner · web-flow · commit 71cec3109998 · 2022-12-05T09:12:53.000+01:00
* Change default path for urscript for headless mode.

* Replace urscript path also in newer ur_robot_driver launchfile

* Remove ros_control.urscript

Co-authored-by: Felix Exner &lt;exner@fzi.de&gt;
diff --git a/ur_bringup/launch/ur_control.launch.py b/ur_bringup/launch/ur_control.launch.py
@@ -82,7 +82,7 @@ def launch_setup(context, *args, **kwargs):
         [FindPackageShare(description_package), "config", ur_type, "visual_parameters.yaml"]
     )
     script_filename = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "resources", "ros_control.urscript"]
+        [FindPackageShare("ur_client_library"), "resources", "external_control.urscript"]
     )
     input_recipe_filename = PathJoinSubstitution(
         [FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -82,7 +82,7 @@ def launch_setup(context, *args, **kwargs):
         [FindPackageShare(description_package), "config", ur_type, "visual_parameters.yaml"]
     )
     script_filename = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "resources", "ros_control.urscript"]
+        [FindPackageShare("ur_client_library"), "resources", "external_control.urscript"]
     )
     input_recipe_filename = PathJoinSubstitution(
         [FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
diff --git a/ur_robot_driver/resources/ros_control.urscript b/ur_robot_driver/resources/ros_control.urscript

Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,7 @@ def launch_setup(context, args, *kwargs):`
`82`	`82`	`[FindPackageShare(description_package), "config", ur_type, "visual_parameters.yaml"]`
`83`	`83`	`)`
`84`	`84`	`script_filename = PathJoinSubstitution(`
`85`		`- [FindPackageShare("ur_robot_driver"), "resources", "ros_control.urscript"]`
	`85`	`+ [FindPackageShare("ur_client_library"), "resources", "external_control.urscript"]`
`86`	`86`	`)`
`87`	`87`	`input_recipe_filename = PathJoinSubstitution(`
`88`	`88`	`[FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]`