Renamed *_traj_controllers to *_joint_traj_controller (UniversalRobots#214)

Author: Felix Exner

README.md

@@ -190,7 +190,7 @@ Inside the ROS terminal running the driver you should see the output `Robot read
 To control the robot using ROS, use the action server on
 
 ```bash
-/scaled_pos_traj_controller/follow_joint_trajectory
+/scaled_pos_joint_traj_controller/follow_joint_trajectory
 ```
 
 Use this with any client interface such as [MoveIt!](https://moveit.ros.org/) or simply the

ur_robot_driver/config/ur10_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/config/ur10e_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/config/ur3_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/config/ur3e_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/config/ur5_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/config/ur5e_controllers.yaml

@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-scaled_pos_traj_controller:
+scaled_pos_joint_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -45,7 +45,7 @@ scaled_pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-pos_traj_controller:
+pos_joint_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -61,7 +61,7 @@ pos_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-scaled_vel_traj_controller:
+scaled_vel_joint_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
    joints: *robot_joints
    constraints:
@@ -93,7 +93,7 @@ scaled_vel_traj_controller:
    state_publish_rate: *loop_hz
    action_monitor_rate: 20
 
-vel_traj_controller:
+vel_joint_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints: *robot_joints
    constraints:

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -14,7 +14,7 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -50,7 +50,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -104,7 +104,7 @@ Standalone launchfile to startup a ur10 robot. This requires a robot reachable v
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -140,7 +140,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -158,7 +158,7 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller vel_based_pos_traj_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller vel_based_pos_joint_traj_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -256,7 +256,7 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -292,7 +292,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -346,7 +346,7 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -382,7 +382,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -400,7 +400,7 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -436,7 +436,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -490,7 +490,7 @@ Standalone launchfile to startup a ur3 robot. This requires a robot reachable vi
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -526,7 +526,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 
@@ -544,7 +544,7 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
 Config file used for defining the ROS-Control controllers.
 
-##### controllers (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
+##### controllers (default: "joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller")
 
 Controllers that are activated by default.
 
@@ -580,7 +580,7 @@ IP address by which the robot can be reached.
 
 The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately.
 
-##### stopped_controllers (default: "pos_traj_controller joint_group_vel_controller")
+##### stopped_controllers (default: "pos_joint_traj_controller joint_group_vel_controller")
 
 Controllers that are initally loaded, but not started.
 

ur_robot_driver/launch/ur10_bringup.launch

@@ -5,8 +5,8 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -6,8 +6,8 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>