Debug launch and yaml #1
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syncs controller_manager update rate to gazebo changes simulated behavior from disintegration to no gravity resistance
resolves gazebo ERRors ie: **[ERROR] [ros2-6]: process has died [pid 10363, exit code 2, cmd 'ros2 control load_start_controller joint_trajectory_controller'].**
matches Gazebo & Gazebo yaml update rate
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additional steps: |
comment out update_rate -> ur10 dangles with gravity
enabled static_tf
commented out #update_rate: 1000 # Hz =Gazebo
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Changes:
ur10_description/config/gazebo_controllers.yaml
removed Gazebo update_rate and revised rrbot yaml format
ur10_gazebo/launch/ur10_gazebo.launch.py
restored static_TF, removed ExecuteProcess (solves Gazebo errors)
Result: