june25

Author: u-decs

ur_bringup/launch/ur_control.launch.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2021 PickNik, Inc.
+ls# Copyright (c) 2021 PickNik, Inc.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:

ur_moveit_config/CMakeLists.txt

@@ -12,4 +12,4 @@ install(DIRECTORY config launch rviz srdf
 ament_python_install_package(${PROJECT_NAME})
 ament_python_install_module(${PROJECT_NAME}/launch_common.py)
 
-ament_package()
+ament_package()

ur_moveit_config/config/controllers.yaml

@@ -6,7 +6,7 @@ controller_names:
 scaled_joint_trajectory_controller:
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
-  default: true
+  default: false
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
@@ -19,7 +19,7 @@ scaled_joint_trajectory_controller:
 joint_trajectory_controller:
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
-  default: false
+  default: true
   joints:
     - shoulder_pan_joint
     - shoulder_lift_joint