From 0b9bf8b549af90f1ae302e6e53fac89d41f00091 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Fri, 19 Feb 2016 14:16:49 +0100
Subject: [PATCH] Updated launch files to evaluate a 'prefix' argument and pass
 it to the driver and urdf file. Fixes #28

---
 launch/ur10_bringup.launch               | 3 ++-
 launch/ur10_bringup_joint_limited.launch | 4 +++-
 launch/ur3_bringup.launch                | 3 ++-
 launch/ur3_bringup_joint_limited.launch  | 4 +++-
 launch/ur5_bringup.launch                | 4 +++-
 launch/ur5_bringup_joint_limited.launch  | 6 ++++--
 launch/ur_common.launch                  | 2 ++
 test_move.py                             | 6 ++++++
 8 files changed, 25 insertions(+), 7 deletions(-)

diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index 97d5584..8b09201 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -13,10 +13,11 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
-
+  <arg name="prefix" default="" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
   
   <!-- ur common -->
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
index 1e07c20..6cc6ca6 100644
--- a/launch/ur10_bringup_joint_limited.launch
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -11,12 +11,14 @@
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="20.0"/>
+  <arg name="max_payload"  default="10.0"/>
+  <arg name="prefix" default="" />
 
   <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
 </launch>
diff --git a/launch/ur3_bringup.launch b/launch/ur3_bringup.launch
index 1b28f72..c5d4a8f 100644
--- a/launch/ur3_bringup.launch
+++ b/launch/ur3_bringup.launch
@@ -13,10 +13,11 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
-
+  <arg name="prefix" default="" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
 
   <!-- ur common -->
diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch
index 6d40005..e2c657e 100644
--- a/launch/ur3_bringup_joint_limited.launch
+++ b/launch/ur3_bringup_joint_limited.launch
@@ -11,12 +11,14 @@
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="10.0"/>
+  <arg name="max_payload"  default="3.0"/>
+  <arg name="prefix" default="" />
 
   <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
 </launch>
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
index 212b8e6..a097d4e 100644
--- a/launch/ur5_bringup.launch
+++ b/launch/ur5_bringup.launch
@@ -13,14 +13,16 @@
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
-
+  <arg name="prefix" default="" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
   
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
+    <arg name="prefix"  value="$(arg prefix)" />
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
index b8c3b10..643f5c4 100644
--- a/launch/ur5_bringup_joint_limited.launch
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -11,12 +11,14 @@
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="10.0"/>
-
+  <arg name="max_payload"  default="5.0"/>
+  <arg name="prefix" default="" />
+  
   <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="prefix" value="$(arg prefix)" />
   </include>
 </launch>
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index a9754a7..8b7836c 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -11,6 +11,7 @@
   <arg name="robot_ip" />
   <arg name="min_payload" />
   <arg name="max_payload" />
+  <arg name="prefix" default="" />
   <arg name="servoj_time" default="0.008" />
   <arg name="base_frame"  default="base"/>
   <arg name="tool_frame"  default="tool0_controller"/>
@@ -23,6 +24,7 @@
   <!-- driver -->
   <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
   <!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
+    <param name="prefix" type="str" value="$(arg prefix)" />
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
     <param name="min_payload" type="double" value="$(arg min_payload)" />
     <param name="max_payload" type="double" value="$(arg max_payload)" />
diff --git a/test_move.py b/test_move.py
index 947d9d1..83292a2 100755
--- a/test_move.py
+++ b/test_move.py
@@ -111,6 +111,12 @@ def main():
         client.wait_for_server()
         print "Connected to server"
         rospy.Subscriber("joint_states", JointState, joint_subscriber)
+        parameters = rospy.get_param(None)
+        index = str(parameters).find('prefix')
+        if (index > 0):
+            prefix = str(parameters)[index+len("prefix': '"):(index+len("prefix': '")+str(parameters)[index+len("prefix': '"):-1].find("'"))]
+            for i, name in enumerate(JOINT_NAMES):
+                JOINT_NAMES[i] = prefix + name
         print "This program makes the robot move between the following three poses:"
         print str([Q1[i]*180./pi for i in xrange(0,6)])
         print str([Q2[i]*180./pi for i in xrange(0,6)])