🔧 Adds extra scripts

rickstaa · Jun 17, 2021 · 087a02d · 087a02d
1 parent e7d596f
commit 087a02d
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Showing 5 changed files with 8 additions and 4 deletions.
diff --git a/real_panda_moveit_control/README.md b/real_panda_moveit_control/README.md
diff --git a/real_panda_moveit_control/launch/real_panda_moveit_control.launch b/real_panda_moveit_control/launch/real_panda_moveit_control.launch
@@ -2,7 +2,6 @@
 -->
 <launch>
     <!--Script parameters-->
-    <arg name="real" default="true"/>
     <arg name="load_gripper" default="true"/>
     <arg name="robot_ip" default="172.16.0.2"/>
     <!--    Wether the franka_control node should run on this pc-->

diff --git a/real_panda_moveit_control/launch/real_panda_traj_gui_control.launch b/real_panda_moveit_control/launch/real_panda_traj_gui_control.launch
@@ -2,7 +2,6 @@
 -->
 <launch>
     <!--Script parameters-->
-    <arg name="real" default="true"/>
     <arg name="load_gripper" default="true"/>
     <arg name="robot_ip" default="172.16.0.2"/>
     <!--    Wether the franka_control node should run on this pc-->
@@ -19,6 +18,7 @@
         </include>
     </group>
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/>
+    <!-- <node name="rqt_joint_trajectory_controller" pkg="rqt_joint_trajectory_controller" type="rqt_joint_trajectory_controller" respawn="false" output="screen" /> -->
 
     <!--Load the URDF, SRDF and other .yaml configuration files on the param server-->
     <include file="$(find panda_moveit_config)/launch/planning_context.launch">

diff --git a/real_panda_moveit_control/package.xml b/real_panda_moveit_control/package.xml
@@ -55,14 +55,15 @@
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>rqt_joint_trajectory_controller</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>
diff --git a/real_panda_moveit_control/scripts/franka_net_master_connect.setup b/real_panda_moveit_control/scripts/franka_net_master_connect.setup
@@ -1,8 +1,12 @@
 #!/bin/bash
 # Small script used to connect to the roscore running on the workstation
+# Input the ip where the ros core is running
+master_ip=${1:-172.16.0.1}
+echo $master_ip
+# Create required environmental variables
 export ROS_MASTER_URI=http://172.16.0.1:11311
 # export ROS_HOSTNAME=$(hostname) # Use if the hostname is resolvable on the network
-machine_ip=$(hostname -I)
+machine_ip=(`hostname -I`)
 export ROS_IP=${machine_ip[1]} # Use if the hostname can not be resolved on the network
 echo "ROS_MASTER_URI=$ROS_MASTER_URI"
 echo "ROS_HOSTNAME=$ROS_HOSTNAME"