From 11f92214edc989667a3922835776a4fbbc86376a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 8 May 2025 11:08:30 +0200 Subject: [PATCH] Remove FTS broadcaster from list of controllers The broadcaster isn't used in this package, anyway, as this doesn't exist in Gazebo (to my knowledge). The broadcaster entry itself was wrong anyway, since the broadcaster got moved to ros2_controllers a long time ago. --- ur_simulation_gz/config/ur_controllers.yaml | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/ur_simulation_gz/config/ur_controllers.yaml b/ur_simulation_gz/config/ur_controllers.yaml index fdc82eb..b463200 100644 --- a/ur_simulation_gz/config/ur_controllers.yaml +++ b/ur_simulation_gz/config/ur_controllers.yaml @@ -11,9 +11,6 @@ controller_manager: speed_scaling_state_broadcaster: type: ur_controllers/SpeedScalingStateBroadcaster - force_torque_sensor_broadcaster: - type: ur_controllers/ForceTorqueStateBroadcaster - joint_trajectory_controller: type: joint_trajectory_controller/JointTrajectoryController @@ -31,21 +28,6 @@ speed_scaling_state_broadcaster: ros__parameters: state_publish_rate: 100.0 - -force_torque_sensor_broadcaster: - ros__parameters: - sensor_name: tcp_fts_sensor - state_interface_names: - - force.x - - force.y - - force.z - - torque.x - - torque.y - - torque.z - frame_id: tool0 - topic_name: ft_data - - joint_trajectory_controller: ros__parameters: joints: