Obbart/universal_robots_ros_driver
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piped device_name and tcp_port for tool communication correctly through all launch files

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This commit is contained in:
Felix Mauch
2019-07-02 07:41:56 +02:00
parent 54c04d61f9
commit 8bbe0274d6
5 changed files with 9 additions and 1 deletions
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2
ur_rtde_driver/launch/ur10e_bringup.launch
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@@ -38,6 +38,8 @@
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</include>
</launch>

2
ur_rtde_driver/launch/ur3e_bringup.launch
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@@ -38,6 +38,8 @@
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</include>
</launch>

2
ur_rtde_driver/launch/ur5e_bringup.launch
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@@ -38,6 +38,8 @@
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</include>
</launch>

2
ur_rtde_driver/launch/ur_common.launch
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@@ -42,5 +42,7 @@
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
</include>
</launch>

2
ur_rtde_driver/launch/ur_control.launch
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@@ -45,7 +45,7 @@
<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
<param name="device_name" value="$(arg tool_device_name)"/>
<param name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
<param name="tcp_port" value="$(arg tool_tcp_port)"/>
</node>
<!-- Load controller settings -->