From 834b1031294305fafd50fd0e47a6ef2cbd11fd78 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Mon, 16 Nov 2015 10:21:50 +0100
Subject: [PATCH] Added launchfiles used for imitating old python driver

---
 launch/ur10_bringup_compatible.launch | 30 +++++++++++++++++++++++++++
 launch/ur5_bringup_compatible.launch  | 30 +++++++++++++++++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 launch/ur10_bringup_compatible.launch
 create mode 100644 launch/ur5_bringup_compatible.launch

diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch
new file mode 100644
index 0000000..436cb5b
--- /dev/null
+++ b/launch/ur10_bringup_compatible.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
+  for more info)
+
+  Usage:
+    ur10_bringup.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="10.0"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur10_upload.launch">
+    <arg name="limited" value="$(arg limited)"/>
+  </include>
+  
+  <!-- ur common -->
+  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="servoj_time"  value="0.08" />
+  </include>
+
+</launch>
diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch
new file mode 100644
index 0000000..31f7b0b
--- /dev/null
+++ b/launch/ur5_bringup_compatible.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
+  for more info)
+
+  Usage:
+    ur5_bringup.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="5.0"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur5_upload.launch">
+    <arg name="limited" value="$(arg limited)"/>
+  </include>
+  
+  <!-- ur common -->
+  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="servoj_time"  value="0.08" />
+  </include>
+
+</launch>