From 8bbe0274d6012eb7c4d0dc24af9538412a836f92 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Tue, 2 Jul 2019 07:41:56 +0200
Subject: [PATCH] piped device_name and tcp_port for tool communication
 correctly through all launch files

---
 ur_rtde_driver/launch/ur10e_bringup.launch | 2 ++
 ur_rtde_driver/launch/ur3e_bringup.launch  | 2 ++
 ur_rtde_driver/launch/ur5e_bringup.launch  | 2 ++
 ur_rtde_driver/launch/ur_common.launch     | 2 ++
 ur_rtde_driver/launch/ur_control.launch    | 2 +-
 5 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
index 317b44c..4659e25 100644
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -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>
diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
index 02ff890..a2cab94 100644
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -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>
diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
index ad46d76..3f1aa13 100644
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -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>
diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
index 646d378..9dfbfe8 100644
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -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="$(arg tool_tcp_port)"/>
   </include>
 </launch>
diff --git a/ur_rtde_driver/launch/ur_control.launch b/ur_rtde_driver/launch/ur_control.launch
index e2a6d40..02ad059 100644
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -45,7 +45,7 @@
   <node if="$(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 -->