Closed relffok closed 6 months ago
The launch file ur_sim_moveit.launch brings up the simulation and moveit (from the UR_Description/ur_moveit_config package).
ur_sim_moveit.launch
Simulation runs with the joint_trajectory_controller, whereas the real robot uses the scaled_trajectory_controller.
To work out of the box, one needs to add the "use_fake_hardware" argument to the launch file so it switches the default controller automatically (see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_moveit_config/launch/ur_moveit.launch.py#L170).
As far as I know this only applies to humble, since galactic is running on joint_trajectory_controller anyways.
Will open a PR to add this.
The launch file
ur_sim_moveit.launchbrings up the simulation and moveit (from the UR_Description/ur_moveit_config package).Simulation runs with the joint_trajectory_controller, whereas the real robot uses the scaled_trajectory_controller.
To work out of the box, one needs to add the "use_fake_hardware" argument to the launch file so it switches the default controller automatically (see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_moveit_config/launch/ur_moveit.launch.py#L170).
As far as I know this only applies to humble, since galactic is running on joint_trajectory_controller anyways.
Will open a PR to add this.