Allow using the scaled jtc with GZ Sim (#82)

UniversalRobots · Jan 24, 2025 · 01021ea · 01021ea
1 parent 151f0dd
commit 01021ea
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/ur_simulation_gz/config/ur_controllers.yaml b/ur_simulation_gz/config/ur_controllers.yaml
@@ -88,6 +88,7 @@ scaled_joint_trajectory_controller:
     state_interfaces:
       - position
       - velocity
+    speed_scaling_interface_name: ""
     state_publish_rate: 100.0
     action_monitor_rate: 20.0
     allow_partial_joints_goal: false

diff --git a/ur_simulation_gz/package.xml b/ur_simulation_gz/package.xml
@@ -24,12 +24,13 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>ur_controllers</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_moveit_config</exec_depend>
   <exec_depend>urdf</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
-  <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>