Use upstream fts_broadcaster (#304)

UniversalRobots · Apr 25, 2022 · f10cd56 · f10cd56
1 parent 4179e12
commit f10cd56
Show file tree

Hide file tree

Showing 7 changed files with 2 additions and 285 deletions.
diff --git a/README.md b/README.md
@@ -284,7 +284,6 @@ The docker-compose setup is prepared for usage of driver with the official UR si
 
 ## Expected Changes in the Near Future
 
-- Using upstream `force_torque_sensor_broadcaster` (ros-controls/ros2_controllers#152)
 - Trajectory control currently only supports position commands. In the future, velocity control will be added.
 
 

diff --git a/ur_bringup/config/ur_controllers.yaml b/ur_bringup/config/ur_controllers.yaml
@@ -12,7 +12,7 @@ controller_manager:
       type: ur_controllers/SpeedScalingStateBroadcaster
 
     force_torque_sensor_broadcaster:
-      type: ur_controllers/ForceTorqueStateBroadcaster
+      type: force_torque_sensor_broadcaster/ForceTorqueStateBroadcaster
 
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController

diff --git a/ur_bringup/package.xml b/ur_bringup/package.xml
@@ -24,6 +24,7 @@
   <depend>rclpy</depend>
 
   <exec_depend>controller_manager</exec_depend>
+  <exec_depend>force_torque_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>

diff --git a/ur_controllers/CMakeLists.txt b/ur_controllers/CMakeLists.txt
@@ -50,7 +50,6 @@ include_directories(include)
 add_library(${PROJECT_NAME} SHARED
   src/scaled_joint_trajectory_controller.cpp
   src/speed_scaling_state_broadcaster.cpp
-  src/force_torque_sensor_broadcaster.cpp
   src/gpio_controller.cpp)
 
 target_include_directories(${PROJECT_NAME} PRIVATE

diff --git a/ur_controllers/controller_plugins.xml b/ur_controllers/controller_plugins.xml
@@ -1,9 +1,4 @@
 <library path="ur_controllers">
-  <class name="ur_controllers/ForceTorqueStateBroadcaster" type="ur_controllers::ForceTorqueStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
-    <description>
-      The force torque state controller publishes the current force and torques
-    </description>
-  </class>
   <class name="ur_controllers/SpeedScalingStateBroadcaster" type="ur_controllers::SpeedScalingStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
     <description>
       This controller publishes the readings of all available speed scaling factors.

diff --git a/ur_controllers/include/ur_controllers/force_torque_sensor_broadcaster.hpp b/ur_controllers/include/ur_controllers/force_torque_sensor_broadcaster.hpp
diff --git a/ur_controllers/src/force_torque_sensor_broadcaster.cpp b/ur_controllers/src/force_torque_sensor_broadcaster.cpp
Original file line number	Diff line number	Diff line change
Expand Up		@@ -284,7 +284,6 @@ The docker-compose setup is prepared for usage of driver with the official UR si

		## Expected Changes in the Near Future

		- Using upstream `force_torque_sensor_broadcaster` (ros-controls/ros2_controllers#152)
		- Trajectory control currently only supports position commands. In the future, velocity control will be added.


Expand Down