From 4b662d343737eac0a689a025a33aceceaf1ea801 Mon Sep 17 00:00:00 2001
From: Marcel Schnirring <mschnirring@marcel-schnirring.de>
Date: Mon, 11 Feb 2019 20:23:49 +0100
Subject: [PATCH] Add reverse_port argument to launch files

---
 launch/ur10_bringup.launch               | 2 ++
 launch/ur10_bringup_compatible.launch    | 2 ++
 launch/ur10_bringup_joint_limited.launch | 2 ++
 launch/ur10_ros_control.launch           | 2 ++
 launch/ur3_bringup.launch                | 2 ++
 launch/ur3_bringup_joint_limited.launch  | 2 ++
 launch/ur3_ros_control.launch            | 2 ++
 launch/ur5_bringup.launch                | 2 ++
 launch/ur5_bringup_compatible.launch     | 2 ++
 launch/ur5_bringup_joint_limited.launch  | 2 ++
 launch/ur5_ros_control.launch            | 3 ++-
 launch/ur_common.launch                  | 2 ++
 12 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index 34582d9..942a462 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" default="" />
diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch
index 45e0ebd..749c693 100644
--- a/launch/ur10_bringup_compatible.launch
+++ b/launch/ur10_bringup_compatible.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
@@ -34,6 +35,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" default="" />
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
index 756807b..85ff216 100644
--- a/launch/ur10_bringup_joint_limited.launch
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index e547355..471bfd6 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
diff --git a/launch/ur3_bringup.launch b/launch/ur3_bringup.launch
index 22e426b..0c37dc9 100644
--- a/launch/ur3_bringup.launch
+++ b/launch/ur3_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch
index 5f994f1..df09555 100644
--- a/launch/ur3_bringup_joint_limited.launch
+++ b/launch/ur3_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index c728d34..d778b80 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
index eafad38..780d9bc 100644
--- a/launch/ur5_bringup.launch
+++ b/launch/ur5_bringup.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
@@ -33,6 +34,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix"  value="$(arg prefix)" />
diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch
index ddd0b92..069c2a6 100644
--- a/launch/ur5_bringup_compatible.launch
+++ b/launch/ur5_bringup_compatible.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
@@ -34,6 +35,7 @@
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix"  value="$(arg prefix)" />
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
index 09a0022..1975d3b 100644
--- a/launch/ur5_bringup_joint_limited.launch
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -10,6 +10,7 @@
 
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
@@ -27,6 +28,7 @@
 
   <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index 964c06d..d1118e6 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -7,6 +7,7 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
@@ -26,6 +27,7 @@
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
     <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="min_payload" type="double" value="$(arg min_payload)"/>
     <param name="max_payload" type="double" value="$(arg max_payload)"/>
     <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
@@ -52,4 +54,3 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
 </launch>
-
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index 37eea20..726f7a1 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -9,6 +9,7 @@
 <launch>
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" />
+  <arg name="reverse_port" default="50001"/>
   <arg name="min_payload" />
   <arg name="max_payload" />
   <arg name="prefix" default="" />
@@ -38,6 +39,7 @@
   <!-- 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="reverse_port" type="int" value="$(arg reverse_port)" />
     <param name="use_ros_control" type="bool" value="$(arg use_ros_control)"/>
     <param name="use_lowbandwidth_trajectory_follower" type="bool" value="$(arg use_lowbandwidth_trajectory_follower)"/>
     <param name="min_payload" type="double" value="$(arg min_payload)" />