From a6338abad67ac982a314b3a2d7b5b001f01fe0c8 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Tue, 2 Jul 2019 07:45:43 +0200
Subject: [PATCH] by default, deactivate tool_comm and set tool voltage to 0

---
 ur_rtde_driver/launch/ur10e_bringup.launch | 4 ++--
 ur_rtde_driver/launch/ur3e_bringup.launch  | 4 ++--
 ur_rtde_driver/launch/ur5e_bringup.launch  | 4 ++--
 ur_rtde_driver/launch/ur_common.launch     | 2 +-
 ur_rtde_driver/launch/ur_control.launch    | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
index 4659e25..3a2494b 100644
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
index a2cab94..d69604a 100644
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
index 3f1aa13..8e25bb3 100644
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -4,7 +4,7 @@
   <!-- GDB functionality -->
   <arg name="debug" default="false" />
 
-  <arg name="use_tool_communication" default="true"/>
+  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
@@ -13,7 +13,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
index 9dfbfe8..e165cb0 100644
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -10,7 +10,7 @@
   <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>
diff --git a/ur_rtde_driver/launch/ur_control.launch b/ur_rtde_driver/launch/ur_control.launch
index 02ad059..aad3ff6 100644
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -15,7 +15,7 @@
   <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_voltage" default="0"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
   <arg name="tool_stop_bits" default="1"/>