Obbart/universal_robots_ros_driver
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Implemented communication on port 30001 and 30002 - untested

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Thomas Timm Andersen
2015-09-15 17:05:34 +02:00
parent 889e2b70d4
commit 69c5fa780a
1 changed files with 0 additions and 28 deletions
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launch/ur_common.launch~
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<?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>