Added robot status controller to all configs

axelschroth · axelschroth · commit 182256330f14 · 2020-03-31T15:52:19.000+02:00
diff --git a/ur_robot_driver/config/ur10_controllers.yaml b/ur_robot_driver/config/ur10_controllers.yaml
@@ -139,3 +139,8 @@ vel_traj_controller:
 joint_group_vel_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
diff --git a/ur_robot_driver/config/ur10e_controllers.yaml b/ur_robot_driver/config/ur10e_controllers.yaml
@@ -139,3 +139,8 @@ vel_traj_controller:
 joint_group_vel_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml
@@ -140,3 +140,8 @@ vel_traj_controller:
 joint_group_vel_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
diff --git a/ur_robot_driver/config/ur5_controllers.yaml b/ur_robot_driver/config/ur5_controllers.yaml
@@ -139,3 +139,8 @@ vel_traj_controller:
 joint_group_vel_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
diff --git a/ur_robot_driver/config/ur5e_controllers.yaml b/ur_robot_driver/config/ur5e_controllers.yaml
@@ -139,3 +139,8 @@ vel_traj_controller:
 joint_group_vel_controller:
    type: velocity_controllers/JointGroupVelocityController
    joints: *robot_joints
+
+robot_status_controller:
+   type: industrial_robot_status_controller/IndustrialRobotStatusController
+   handle_name: industrial_robot_status_handle
+   publish_rate: 10
