Obbart/universal_robots_ros_driver
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Add reverse_port argument to launch files

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Marcel Schnirring
2019-02-11 20:23:49 +01:00
parent 66ef45eba8
commit 4b662d3437
12 changed files with 24 additions and 1 deletions
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3
launch/ur5_ros_control.launch
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@@ -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>