Obbart/universal_robots_ros_driver
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UR3 Support

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This commit is contained in:
Jeppe Walther
2015-10-06 17:14:59 +02:00
parent 22e7d799c2
commit 58361900b8
4 changed files with 190 additions and 0 deletions
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launch/ur3_bringup_joint_limited.launch Normal file
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<?xml version="1.0"?>
<!--
Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited'
joint range [-PI, PI] on all joints.
Usage:
ur3_bringup_joint_limited.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>