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testing velocity interface #11

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testing velocity interface #11

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2 changes: 1 addition & 1 deletion ur_description/urdf/ur10_robot.urdf.xacro
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Expand Up @@ -2,7 +2,7 @@
<robot xmlns:xacro="http://wiki.ros.org/xacro"
name="ur10" >

<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
<xacro:arg name="transmission_hw_interface" default="hardware_interface/VelocityJointInterface"/>

<!-- common stuff -->
<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
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2 changes: 1 addition & 1 deletion ur_e_description/urdf/ur10e.urdf.xacro
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Expand Up @@ -26,7 +26,7 @@
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface
transmission_hw_interface:=hardware_interface/VelocityJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20
kinematics_file">
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