From daa05e5004b51494a9b954a15e370e8e216ad158 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Wed, 9 Sep 2015 15:23:29 +0200
Subject: [PATCH] added launch files

---
 launch/ur10_bringup.launch               | 29 ++++++++++++++++++++++++
 launch/ur10_bringup_joint_limited.launch | 22 ++++++++++++++++++
 launch/ur5_bringup.launch                | 29 ++++++++++++++++++++++++
 launch/ur5_bringup_joint_limited.launch  | 22 ++++++++++++++++++
 launch/ur_common.launch                  | 28 +++++++++++++++++++++++
 5 files changed, 130 insertions(+)
 create mode 100644 launch/ur10_bringup.launch
 create mode 100644 launch/ur10_bringup_joint_limited.launch
 create mode 100644 launch/ur5_bringup.launch
 create mode 100644 launch/ur5_bringup_joint_limited.launch
 create mode 100644 launch/ur_common.launch

diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
new file mode 100644
index 0000000..ef7befd
--- /dev/null
+++ b/launch/ur10_bringup.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
+  for more info)
+
+  Usage:
+    ur10_bringup.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="20.0"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur10_upload.launch">
+    <arg name="limited" value="$(arg limited)"/>
+  </include>
+  
+  <!-- ur common -->
+  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+  </include>
+
+</launch>
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
new file mode 100644
index 0000000..1e07c20
--- /dev/null
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited'
+  joint range [-PI, PI] on all joints.
+  
+  Usage:
+    ur10_bringup_joint_limited.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="20.0"/>
+
+  <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="limited"  value="true"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+  </include>
+</launch>
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
new file mode 100644
index 0000000..fca474b
--- /dev/null
+++ b/launch/ur5_bringup.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
+  for more info)
+
+  Usage:
+    ur5_bringup.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="10.0"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur5_upload.launch">
+    <arg name="limited" value="$(arg limited)"/>
+  </include>
+  
+  <!-- ur common -->
+  <include file="$(find ur_modern_driver)/launch/ur_common.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+  </include>
+
+</launch>
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
new file mode 100644
index 0000000..b8c3b10
--- /dev/null
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot ur5 launch. Wraps ur5_bringup.launch. Uses the 'limited'
+  joint range [-PI, PI] on all joints.
+  
+  Usage:
+    ur5_bringup_joint_limited.launch robot_ip:=<value>
+-->
+<launch>
+  
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="min_payload"  default="0.0"/>
+  <arg name="max_payload"  default="10.0"/>
+
+  <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="limited"  value="true"/>
+    <arg name="min_payload"  value="$(arg min_payload)"/>
+    <arg name="max_payload"  value="$(arg max_payload)"/>
+  </include>
+</launch>
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
new file mode 100644
index 0000000..2d76219
--- /dev/null
+++ b/launch/ur_common.launch
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<!--
+  Universal robot common bringup.  Starts ur driver node and robot state
+  publisher (translates joint positions to propper tfs).
+  
+  Usage:
+    ur_common.launch robot_ip:=<value>
+-->
+<launch>
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip"/>
+  <arg name="min_payload"/>
+  <arg name="max_payload"/>
+  
+  
+  <!-- copy the specified IP address to be consistant with ROS-Industrial spec.
+  NOTE: The ip address is actually passed to the driver on the command line -->
+  <param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
+  
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+  <!-- driver -->
+  <node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg robot_ip)" output="screen">
+    <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)"/>
+  </node>
+</launch>