Overview

This package contains launch files for the ee_cart_imped control stack. There are two launch files:

• ee_cart_imped.launch inhibits the usual arm controllers and starts the EECartImped controller on both arms. The arm controllers cannot be re-started until this launch file is killed. To launch the controller on just one arm, use the launch files in ee_cart_imped_action/launch.

• load_ee_cart_imped.launch loads but does not start the EECartImped controller. The controller can be stopped and started, allowing it to be swapped out with other controllers, using the pr2_controller_interface from the pr2_controller_manager package. For an example, see this tutorial.

Launch files more specific to the action and the controller are located in those packages. These include

• ee_cart_imped_action/launch/r_arm_cart_imped_action.launch: Launches the controller and action server for the right arm only.

• ee_cart_imped_action/launch/l_arm_cart_imped_action.launch: Launches the controller and action server for the left arm only.

• ee_cart_imped_control/launch/r_arm_cart_imped_controller.launch: Loads the controller onto the parameter server, inhibits the r_arm_controller and starts the force/impedance controller on the right arm only. Since all interaction with the controller should be done through the action server, this launch file should be used in isolation only for debugging purposes.

• ee_cart_imped_control/launch/l_arm_cart_imped_controller.launch: Loads the controller onto the parameter server, inhibits the l_arm_controller and starts the force/impedance controller on the left arm only. Since all interaction with the controller should be done through the action server, this launch file should be used in isolation only for debugging purposes.