From 3f0b03a76837e111fa6bca0817a25f43273dd2f4 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Fri, 30 Oct 2015 12:47:32 +0100
Subject: [PATCH] Added launch files for making the driver behave just like the
 old python driver

---
 launch/ur10_bringup.launch |  2 +-
 launch/ur_common.launch    | 16 +++++++++-------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index ef7befd..97d5584 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -12,7 +12,7 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="20.0"/>
+  <arg name="max_payload"  default="10.0"/>
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index b2ceb0a..6cd06dd 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -8,9 +8,10 @@
 -->
 <launch>
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="min_payload"/>
-  <arg name="max_payload"/>
+  <arg name="robot_ip" />
+  <arg name="min_payload" />
+  <arg name="max_payload" />
+  <arg name="servoj_time" default="0.008" />
   
     
   <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
@@ -21,9 +22,10 @@
   <!-- 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="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="$(arg max_payload)"/>
-    <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
+    <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="$(arg max_payload)" />
+    <param name="max_velocity" type="double" value="$(arg max_velocity)" />
+    <param name="servoj_time" type="double" value="$(arg servoj_time)" />
   </node>
 </launch>