Obbart/universal_robots_ros_driver
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Updated launch files to evaluate a 'prefix' argument and pass it to the driver and urdf file. Fixes #28

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Thomas Timm Andersen
2016-02-19 14:16:49 +01:00
parent c05f16c8e9
commit 0b9bf8b549
8 changed files with 25 additions and 7 deletions
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2
launch/ur_common.launch
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@@ -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)" />