From 8c25a4495f5ac3c0b4a5f5bbe986f8d64e2b9607 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Fri, 25 Sep 2015 11:28:54 +0200
Subject: [PATCH] Updated launch files

---
 launch/ur10_ros_control.launch | 41 ++++++++++++++++------------------
 launch/ur5_ros_control.launch  | 40 ++++++++++++++++-----------------
 2 files changed, 38 insertions(+), 43 deletions(-)

diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index 4eccad3..f570298 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -15,30 +15,27 @@
     <arg name="limited" value="$(arg limited)"/>
   </include>
 
-  <group ns="universal_robot">
+  <!-- Load hardware interface -->
+  <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
+    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <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)"/>
+    <param name="use_ros_control" type="bool" value="True"/>
+  </node>
 
-    <!-- Load hardware interface -->
-    <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
-	    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
-	    <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="$(arg max_velocity)"/>
-	    <param name="use_ros_control" type="bool" value="True"/>
-    </node>
+  <!-- Load controller settings -->
+  <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
 
-    <!-- Load controller settings -->
-    <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
+  <!-- spawn controller manager -->
+  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
 
-    <!-- spawn controller manager -->
-    <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-	  output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
-	<!-- load other controller --> 
-	<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-	  output="screen" args="load position_based_position_trajectory_controller" /> 
+  <!-- load other controller --> 
+  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
+    output="screen" args="load position_based_position_trajectory_controller" /> 
 
-    <!-- Convert joint states to /tf tranforms -->
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-  </group>
-
-</launch>
+  <!-- Convert joint states to /tf tranforms -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
+</launch>
\ No newline at end of file
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index 28e31ca..b03a107 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -15,31 +15,29 @@
     <arg name="limited" value="$(arg limited)"/>
   </include>
 
-  <group ns="universal_robot">
+  
+  <!-- Load hardware interface -->
+  <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
+    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
+    <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)"/>
+    <param name="use_ros_control" type="bool" value="True"/>
+  </node>
 
-    <!-- Load hardware interface -->
-    <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
-	    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
-	    <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="$(arg max_velocity)"/>
-	    <param name="use_ros_control" type="bool" value="True"/>
-    </node>
+  <!-- Load controller settings -->
+  <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
 
-    <!-- Load controller settings -->
-    <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
+  <!-- spawn controller manager -->
+  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
 
-    <!-- spawn controller manager -->
-    <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-	  output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
-	<!-- load other controller --> 
-	<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-	  output="screen" args="load position_based_position_trajectory_controller" /> 
+  <!-- load other controller --> 
+  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
+    output="screen" args="load position_based_position_trajectory_controller" /> 
 
-    <!-- Convert joint states to /tf tranforms -->
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
-  </group>
+  <!-- Convert joint states to /tf tranforms -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
 </launch>