From 7a9d4286579bfc35ae6a064a511ccfd85295f2ed Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 12 May 2025 15:51:55 +0200 Subject: [PATCH] Remove FTS broadcaster from list of controllers (#95) 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. (cherry picked from commit 790126b7724b7721d1e6e2bd337dadfb6d9fb344) --- 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: