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Remove FTS broadcaster from list of controllers #95

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Merged
merged 1 commit into from
May 12, 2025
Merged

Remove FTS broadcaster from list of controllers #95

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18 changes: 0 additions & 18 deletions ur_simulation_gz/config/ur_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand All @@ -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:
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