Update ports for ur fix (#791)

* Update right_ur10e_arm_robot_hw.yaml * Update left_bimanual_ur10e_arm_robot_hw.yaml * Update left_ur10e_arm_robot_hw.yaml
shadow-robot · Nov 28, 2022 · 9d45a04 · 9d45a04
1 parent b6f696c
commit 9d45a04
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Showing 3 changed files with 16 additions and 7 deletions.
diff --git a/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml
@@ -35,15 +35,18 @@ la_sr_ur_robot_hw:
   servoj_gain: 250
 
   servoj_lookahead_time: 0.07
-
-  reverse_port: 50004
 
-  script_sender_port: 50005
+  reverse_port: 51001
+
+  script_sender_port: 51002
+
+  trajectory_port: 51003
 
-  trajectory_port: 50006
+  script_command_port: 51004
 
   use_local_hardware_interface_param: true
 
   non_blocking_read: true
 
   wrench_prefix: left_
+
diff --git a/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml
@@ -36,14 +36,17 @@ la_sr_ur_robot_hw:
 
   servoj_lookahead_time: 0.1
 
-  reverse_port: 50004
+  reverse_port: 51001
 
-  script_sender_port: 50005
+  script_sender_port: 51002
 
-  trajectory_port: 50006
+  trajectory_port: 51003
+
+  script_command_port: 51004
 
   use_local_hardware_interface_param: true
 
   non_blocking_read: true
 
   wrench_prefix: left_
+
diff --git a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
@@ -42,8 +42,11 @@ ra_sr_ur_robot_hw:
 
   trajectory_port: 50003
 
+  script_command_port: 50004
+
   use_local_hardware_interface_param: true
 
   non_blocking_read: true
 
   wrench_prefix: right_
+