From 4d5c7101bac9437b9062a8016e65cd4abc2b1442 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Thu, 10 Sep 2015 17:49:32 +0200
Subject: [PATCH] Started structure for non real time data parsing

---
 include/ur_modern_driver/robot_state_RT.h | 6 +++---
 launch/ur_common.launch                   | 8 ++++++++
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/include/ur_modern_driver/robot_state_RT.h b/include/ur_modern_driver/robot_state_RT.h
index b2cd24f..f7bb7b7 100644
--- a/include/ur_modern_driver/robot_state_RT.h
+++ b/include/ur_modern_driver/robot_state_RT.h
@@ -9,8 +9,8 @@
  * ----------------------------------------------------------------------------
  */
 
-#ifndef ROBOTSTATERT_H_
-#define ROBOTSTATERT_H_
+#ifndef ROBOT_STATE_RT_H_
+#define ROBOT_STATE_RT_H_
 
 #include <inttypes.h>
 #include <vector>
@@ -99,4 +99,4 @@ public:
 	void unpack(uint8_t * buf);
 };
 
-#endif /* ROBOTSTATERT_H_ */
+#endif /* ROBOT_STATE_RT_H_ */
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index 2d76219..6c1cb44 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -12,6 +12,14 @@
   <arg name="min_payload"/>
   <arg name="max_payload"/>
   
+    
+  <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
+  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
+
+  <!-- copy the specified IP address to be consistant with ROS-Industrial spec.
+  NOTE: The ip address is actually passed to the driver on the command line -->
+  <param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
+
   
   <!-- copy the specified IP address to be consistant with ROS-Industrial spec.
   NOTE: The ip address is actually passed to the driver on the command line -->