From 69c5fa780adbfc203594f05487746c70c6d6266b Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Tue, 15 Sep 2015 17:05:34 +0200
Subject: [PATCH] Implemented communication on port 30001 and 30002 - untested

---
 launch/ur_common.launch~ | 28 ----------------------------
 1 file changed, 28 deletions(-)
 delete mode 100644 launch/ur_common.launch~

diff --git a/launch/ur_common.launch~ b/launch/ur_common.launch~
deleted file mode 100644
index 2d76219..0000000
--- a/launch/ur_common.launch~
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  Universal robot common bringup.  Starts ur driver node and robot state
-  publisher (translates joint positions to propper tfs).
-  
-  Usage:
-    ur_common.launch robot_ip:=<value>
--->
-<launch>
-  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="min_payload"/>
-  <arg name="max_payload"/>
-  
-  
-  <!-- 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="$(arg robot_ip)"/>
-  
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-
-  <!-- driver -->
-  <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg robot_ip)" output="screen">
-    <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)"/>
-  </node>
-</launch>