Obbart/universal_robots_ros_driver
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Bring all parameters in example launch files to common/latest parameters

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This commit is contained in:
Jarek Potiuk
2018-02-04 22:38:11 +01:00
parent 42b336bbf5
commit 2ace46d824
8 changed files with 176 additions and 13 deletions
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25
launch/ur10_bringup.launch
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@@ -7,24 +7,45 @@
ur10_bringup.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>