{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/188","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/188/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/188/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/188/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/188","id":60644068,"number":188,"title":"[Indigo] ros_control-enabled ur_driver","user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-03-11T11:23:22Z","updated_at":"2015-05-27T15:00:25Z","closed_at":null,"body":"FYI, @abubeck, @gavanderhoorn, @adolfo-rt\r\n\r\nBased on various recent discussions, about using ros_control for the universal_robot, I'm tempted to use @davetcoleman's [boilerplate](https://github.com/davetcoleman/ros_control_boilerplate) as a start for doing this....\r\n\r\nI'll probably start with a simple JointStateinterface first...(which would be related to #178)\r\n\r\nWe could use this issue for further discussions....\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/105945331","html_url":"https://github.com/ros-industrial/universal_robot/issues/188#issuecomment-105945331","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/188","id":105945331,"user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"created_at":"2015-05-27T15:00:25Z","updated_at":"2015-05-27T15:00:25Z","body":"Thanks a lot @toliver for sharing this...\r\nUnfortunately, I haven't had a closer look yet as I don't have much time atm....hopefully I'll be able to do this in June.\r\n\r\nBut as the discussion was about using ```hardware_interface::RobotHW``` for it, I just wanted to point to a draft package [ur_driver_rc](https://github.com/ipa-fxm/universal_robot/tree/indigo_ur_driver_rc/ur_driver_rc) on my [branch](https://github.com/ipa-fxm/universal_robot/tree/indigo_ur_driver_rc).\r\n\r\nSo far, it's just a half-day effort of using @davetcoleman's [boilerplate](https://github.com/davetcoleman/ros_control_boilerplate) to be able to load a ```joint_state_controller```.\r\nThe [ur_controller_interface-part](https://github.com/ipa-fxm/universal_robot/blob/indigo_ur_driver_rc/ur_driver_rc/include/ur_driver_rc/ur_controller_interface.h) is not really usable yet, but allowed me to load and start a ```joint_state_controller``` in order to receive a ```joint_states``` message from the UR.\r\n\r\nI will keep working on this as soon as I find the time..."}}