Obbart/universal_robots_ros_driver
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added launch files

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This commit is contained in:
Thomas Timm Andersen
2015-09-09 15:23:29 +02:00
parent 68835c549e
commit daa05e5004
5 changed files with 130 additions and 0 deletions
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29
launch/ur10_bringup.launch Normal file
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<?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>

22
launch/ur10_bringup_joint_limited.launch Normal file
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<?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>

29
launch/ur5_bringup.launch Normal file
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<?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>

22
launch/ur5_bringup_joint_limited.launch Normal file
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<?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>

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launch/ur_common.launch Normal file
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<?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>