Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

25
launch/ur10_bringup.launch
View File

@@ -7,24 +7,45 @@
ur10_bringup.launch robot_ip:=<value> ur10_bringup.launch robot_ip:=<value>
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/> <arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch"> <include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<!-- ur common --> <!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch"> <include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>

27
launch/ur10_bringup_compatible.launch
View File

@@ -7,25 +7,46 @@
ur10_bringup.launch robot_ip:=<value> ur10_bringup.launch robot_ip:=<value>
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/> <arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.08"/>
<arg name="servoj_time" default="0.08" />
<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" /> <arg name="shutdown_on_disconnect" default="true" />
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch"> <include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<!-- ur common --> <!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch"> <include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="servoj_time" value="0.08" /> <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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>

24
launch/ur10_bringup_joint_limited.launch
View File

@@ -2,17 +2,27 @@
<!-- <!--
Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited' Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited'
joint range [-PI, PI] on all joints. joint range [-PI, PI] on all joints.
Usage: Usage:
ur10_bringup_joint_limited.launch robot_ip:=<value> ur10_bringup_joint_limited.launch robot_ip:=<value>
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/> <arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur10_bringup.launch"> <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
@@ -21,6 +31,16 @@
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" /> <arg name="prefix" value="$(arg prefix)" />
<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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>
</launch> </launch>

20
launch/ur3_bringup.launch
View File

@@ -14,6 +14,16 @@
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/> <arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur3_upload.launch"> <include file="$(find ur_description)/launch/ur3_upload.launch">
@@ -26,6 +36,16 @@
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" /> <arg name="prefix" value="$(arg prefix)" />
<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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>

20
launch/ur3_bringup_joint_limited.launch
View File

@@ -13,6 +13,16 @@
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/> <arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch"> <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
@@ -21,6 +31,16 @@
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" /> <arg name="prefix" value="$(arg prefix)" />
<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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>
</launch> </launch>

26
launch/ur5_bringup.launch
View File

@@ -7,25 +7,45 @@
ur5_bringup.launch robot_ip:=<value> ur5_bringup.launch robot_ip:=<value>
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/> <arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch"> <include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<!-- ur common --> <!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch"> <include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="prefix" value="$(arg prefix)" />
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>

27
launch/ur5_bringup_compatible.launch
View File

@@ -7,25 +7,46 @@
ur5_bringup.launch robot_ip:=<value> ur5_bringup.launch robot_ip:=<value>
--> -->
<launch> <launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server --> <!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/> <arg name="robot_ip"/>
<arg name="limited" default="false"/> <arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/> <arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.08"/>
<arg name="servoj_time" default="0.08" />
<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" /> <arg name="shutdown_on_disconnect" default="true" />
<!-- robot model --> <!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch"> <include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/> <arg name="limited" value="$(arg limited)"/>
</include> </include>
<!-- ur common --> <!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch"> <include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/> <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="servoj_time" value="0.08" /> <arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(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)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>

20
launch/ur5_bringup_joint_limited.launch
View File

@@ -13,6 +13,16 @@
<arg name="min_payload" default="0.0"/> <arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/> <arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" /> <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" /> <arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_modern_driver)/launch/ur5_bringup.launch"> <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
@@ -21,6 +31,16 @@
<arg name="min_payload" value="$(arg min_payload)"/> <arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/> <arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" /> <arg name="prefix" value="$(arg prefix)" />
<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="$(arg shutdown_on_disconnect)"/> <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include> </include>
</launch> </launch>