From 2aedd45c56d859a2af4bcc48721b8e213a398fda Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Thu, 5 Apr 2012 14:29:23 -0700
Subject: [PATCH] add tf2 buffer server
---
stack.xml | 1 +
ur5_bringup/manifest.xml | 1 +
ur5_bringup/ur5.launch | 5 +++++
3 files changed, 7 insertions(+)
diff --git a/stack.xml b/stack.xml
index 1de675b..4bfdd7b 100644
--- a/stack.xml
+++ b/stack.xml
@@ -5,6 +5,7 @@
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/universal_robot</url>
+ <depend stack="geometry_experimental" />
<depend stack="robot_model" />
<depend stack="actionlib" />
<depend stack="ros_comm" />
diff --git a/ur5_bringup/manifest.xml b/ur5_bringup/manifest.xml
index c2e73bb..eab5b0c 100644
--- a/ur5_bringup/manifest.xml
+++ b/ur5_bringup/manifest.xml
@@ -9,6 +9,7 @@
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/ur5_bringup</url>
+ <depend package="tf2_ros" />
<depend package="ur5_driver" />
<depend package="ur5_description" />
diff --git a/ur5_bringup/ur5.launch b/ur5_bringup/ur5.launch
index 4b0a671..5bf3568 100644
--- a/ur5_bringup/ur5.launch
+++ b/ur5_bringup/ur5.launch
@@ -7,4 +7,9 @@
<!-- driver -->
<node name="ur5_driver" pkg="ur5_driver" type="driver.py" />
+ <!-- TF Buffer Server -->
+ <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server" output="screen">
+ <param name="buffer_size" value="120.0"/>
+ </node>
+
</launch>
\ No newline at end of file
--
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