Obbart/universal_robots_ros_driver
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added launch files

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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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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>