From e2eacd0b2f744b9ee7fb8ce3db2d5fd58fab4b07 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Fri, 4 Oct 2019 14:44:58 +0200
Subject: [PATCH] Set missing default value for tool communication flag

---
 ur_rtde_driver/doc/ROS_INTERFACE.md        | 6 +++---
 ur_rtde_driver/launch/ur10e_bringup.launch | 2 +-
 ur_rtde_driver/launch/ur3e_bringup.launch  | 2 +-
 ur_rtde_driver/launch/ur5e_bringup.launch  | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ur_rtde_driver/doc/ROS_INTERFACE.md b/ur_rtde_driver/doc/ROS_INTERFACE.md
index 65d1958..0b7b59c 100644
--- a/ur_rtde_driver/doc/ROS_INTERFACE.md
+++ b/ur_rtde_driver/doc/ROS_INTERFACE.md
@@ -80,7 +80,7 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 
     Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
 
- * "**use_tool_communication**" (Required)
+ * "**use_tool_communication**" (default: "false")
 
     On e-Series robots tool communication can be enabled with this argument
 
@@ -421,7 +421,7 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 
     Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
 
- * "**use_tool_communication**" (Required)
+ * "**use_tool_communication**" (default: "false")
 
     On e-Series robots tool communication can be enabled with this argument
 
@@ -547,7 +547,7 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
 
     Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
 
- * "**use_tool_communication**" (Required)
+ * "**use_tool_communication**" (default: "false")
 
     On e-Series robots tool communication can be enabled with this argument
 
diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
index 6b7eb78..70d04c0 100644
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -9,7 +9,7 @@
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
index 061064c..c5a5083 100644
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -8,7 +8,7 @@
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
index 84b8a88..08d0e5d 100644
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -8,7 +8,7 @@
   <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
-  <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>