fix config files

kroshu · Nov 13, 2023 · ed5e62d · ed5e62d
1 parent 4b15071
commit ed5e62d
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Showing 4 changed files with 14 additions and 7 deletions.
diff --git a/kuka_kss_rsi_driver/launch/startup.launch.py b/kuka_kss_rsi_driver/launch/startup.launch.py
@@ -27,9 +27,9 @@ def launch_setup(context, *args, **kwargs):
     use_fake_hardware = LaunchConfiguration('use_fake_hardware')
 
     # TODO(Svastits):better way to handle supported robot models and families
-    if robot_model.perform(context) in ["kr6_r700-sixx", "kr6_r900-sixx"]:
+    if robot_model.perform(context) in ["kr6_r700_sixx", "kr6_r900_sixx"]:
         robot_family = "agilus"
-    elif robot_model.perform(context) in ["kr16_r2010-2"]:
+    elif robot_model.perform(context) in ["kr16_r2010_2"]:
         robot_family = "cybertech"
     else:
         print("[ERROR] [launch]: robot model not recognized")
@@ -112,7 +112,7 @@ def generate_launch_description():
     launch_arguments = []
     launch_arguments.append(DeclareLaunchArgument(
         'robot_model',
-        default_value='kr6_r700-sixx'
+        default_value='kr6_r700_sixx'
     ))
     launch_arguments.append(DeclareLaunchArgument(
         'use_fake_hardware',

diff --git a/kuka_kss_rsi_driver/src/robot_manager_node.cpp b/kuka_kss_rsi_driver/src/robot_manager_node.cpp
@@ -44,7 +44,7 @@ RobotManagerNode::RobotManagerNode()
     is_configured_qos);
 
   this->registerStaticParameter<std::string>(
-    "robot_model", "kr6_r700-sixx",
+    "robot_model", "kr6_r700_sixx",
     kuka_drivers_core::ParameterSetAccessRights{true, false,
       false, false, false}, [this](const std::string & robot_model) {
       return this->onRobotModelChangeRequest(robot_model);

diff --git a/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml b/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml
@@ -1,4 +1,4 @@
-joint_impedance_controller:
+joint_trajectory_controller:
   ros__parameters:
     joints: 
     - joint_a1
@@ -7,3 +7,10 @@ joint_impedance_controller:
     - joint_a4
     - joint_a5
     - joint_a6
+
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
diff --git a/kuka_sunrise_fri_driver/config/ros2_controller_config.yaml b/kuka_sunrise_fri_driver/config/ros2_controller_config.yaml
@@ -15,9 +15,9 @@ controller_manager:
       type: joint_state_broadcaster/JointStateBroadcaster
 
     fri_configuration_controller:
-      type: fri_configuration_controller/FRIConfigurationController
+      type: kuka_controllers/FRIConfigurationController
 
     fri_state_broadcaster:
-      type: fri_state_broadcaster/FRIStateBroadcaster
+      type: kuka_controllers/FRIStateBroadcaster
 
     configure_components_on_start: [""]