From ca3e127f219068148cf5d746a15400c841d604d0 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Thu, 13 Jun 2019 17:41:58 +0200
Subject: [PATCH] hard code tool_comm to false in CB3 launchfiles

---
 ur_rtde_driver/launch/ur10_ros_control.launch | 3 +--
 ur_rtde_driver/launch/ur3_ros_control.launch  | 3 +--
 ur_rtde_driver/launch/ur5_ros_control.launch  | 3 +--
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/ur_rtde_driver/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
index 92d507e..3b7a77f 100644
--- a/ur_rtde_driver/launch/ur10_ros_control.launch
+++ b/ur_rtde_driver/launch/ur10_ros_control.launch
@@ -6,7 +6,6 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
   <arg name="robot_ip"/>
@@ -20,7 +19,7 @@
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_rtde_driver/launch/ur3_ros_control.launch b/ur_rtde_driver/launch/ur3_ros_control.launch
index bd22029..35c0dd6 100644
--- a/ur_rtde_driver/launch/ur3_ros_control.launch
+++ b/ur_rtde_driver/launch/ur3_ros_control.launch
@@ -6,7 +6,6 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch"/>
   <arg name="robot_ip"/>
@@ -20,7 +19,7 @@
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_rtde_driver/launch/ur5_ros_control.launch b/ur_rtde_driver/launch/ur5_ros_control.launch
index 38f1e62..8b64607 100644
--- a/ur_rtde_driver/launch/ur5_ros_control.launch
+++ b/ur_rtde_driver/launch/ur5_ros_control.launch
@@ -6,7 +6,6 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="use_tool_communication" default="false"/>
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml"/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch"/>
   <arg name="robot_ip"/>
@@ -20,7 +19,7 @@
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>