Obbart/universal_robots_ros_driver
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Make all launchfiles follow the ones developed for the ur10s

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This commit is contained in:
Felix Mauch
2019-06-14 15:11:31 +02:00
parent 7e6b203b67
commit ec3b8c133e
14 changed files with 67 additions and 508 deletions
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64
ur_rtde_driver/launch/ur10_bringup.launch
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@@ -1,54 +1,28 @@
<?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="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- GDB functionality -->
<arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<!-- ur common -->
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<arg name="use_tool_communication" value="false"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
</include>
</launch>

55
ur_rtde_driver/launch/ur10_bringup_compatible.launch
View File

@@ -1,55 +0,0 @@
<?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="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.08"/>
<arg name="servoj_time" default="0.08" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- ur common -->
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>
</launch>

48
ur_rtde_driver/launch/ur10_bringup_joint_limited.launch
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@@ -1,48 +0,0 @@
<?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="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_rtde_driver)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>
</launch>

33
ur_rtde_driver/launch/ur10_ros_control.launch
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@@ -1,33 +0,0 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<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"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/>
<arg name="prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>-->
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<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="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
</include>
</launch>

0
ur_rtde_driver/launch/ur10e_ros_control.launch → ur_rtde_driver/launch/ur10e_bringup.launch
View File

64
ur_rtde_driver/launch/ur3_bringup.launch
View File

@@ -1,54 +1,28 @@
<?xml version="1.0"?>
<!--
Universal robot ur3 launch. Loads ur3 robot description (see ur_common.launch
for more info)
Usage:
ur3_bringup.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur3_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- GDB functionality -->
<arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<!-- ur common -->
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<arg name="use_tool_communication" value="false"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
</include>
</launch>

48
ur_rtde_driver/launch/ur3_bringup_joint_limited.launch
View File

@@ -1,48 +0,0 @@
<?xml version="1.0"?>
<!--
Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited'
joint range [-PI, PI] on all joints.
Usage:
ur3_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="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_rtde_driver)/launch/ur3_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>
</launch>

33
ur_rtde_driver/launch/ur3_ros_control.launch
View File

@@ -1,33 +0,0 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<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"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/>
<arg name="prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>-->
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<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="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
</include>
</launch>

15
ur_rtde_driver/launch/ur3e_ros_control.launch → ur_rtde_driver/launch/ur3e_bringup.launch
View File

@@ -3,20 +3,16 @@
<!-- GDB functionality -->
<arg name="debug" default="false" />
<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="true"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
<arg name="robot_ip"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/>
<arg name="prefix" default="" />
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>-->
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="stopped_controllers" default=""/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
@@ -31,12 +27,11 @@
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
<arg name="tool_parity" value="$(arg tool_parity)"/>
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>

64
ur_rtde_driver/launch/ur5_bringup.launch
View File

@@ -1,54 +1,28 @@
<?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="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- GDB functionality -->
<arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
<arg name="robot_ip"/>
<arg name="limited" default="false"/>
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<arg name="stopped_controllers" default=""/>
<!-- ur common -->
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<arg name="use_tool_communication" value="false"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
</include>
</launch>

55
ur_rtde_driver/launch/ur5_bringup_compatible.launch
View File

@@ -1,55 +0,0 @@
<?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="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.08"/>
<arg name="servoj_time" default="0.08" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>
<!-- ur common -->
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>
</launch>

48
ur_rtde_driver/launch/ur5_bringup_joint_limited.launch
View File

@@ -1,48 +0,0 @@
<?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="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
<arg name="time_interval" default="0.008"/>
<arg name="servoj_time" default="0.008" />
<arg name="servoj_time_waiting" default="0.001" />
<arg name="max_waiting_time" default="2.0" />
<arg name="servoj_gain" default="100." />
<arg name="servoj_lookahead_time" default="1." />
<arg name="max_joint_difference" default="0.01" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<arg name="shutdown_on_disconnect" default="true" />
<include file="$(find ur_rtde_driver)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<arg name="time_interval" value="$(arg time_interval)"/>
<arg name="servoj_time" value="$(arg servoj_time)" />
<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
<arg name="servoj_gain" value="$(arg servoj_gain)" />
<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
<arg name="base_frame" value="$(arg base_frame)" />
<arg name="tool_frame" value="$(arg tool_frame)" />
<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
</include>
</launch>

33
ur_rtde_driver/launch/ur5_ros_control.launch
View File

@@ -1,33 +0,0 @@
<?xml version="1.0"?>
<launch>
<!-- GDB functionality -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<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"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/>
<arg name="prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>-->
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
<arg name="debug" value="$(arg debug)"/>
<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="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
</include>
</launch>

15
ur_rtde_driver/launch/ur5e_ros_control.launch → ur_rtde_driver/launch/ur5e_bringup.launch
View File

@@ -3,20 +3,16 @@
<!-- GDB functionality -->
<arg name="debug" default="false" />
<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="true"/>
<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
<arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
<arg name="robot_ip"/>
<!--<arg name="reverse_port" default="50001"/>-->
<arg name="limited" default="false"/>
<arg name="prefix" default="" />
<arg name="tf_prefix" default="" />
<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
<!--<arg name="stopped_controllers" default=""/>-->
<arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
<arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
<arg name="stopped_controllers" default=""/>
<arg name="tool_voltage" default="12"/>
<arg name="tool_parity" default="0"/>
<arg name="tool_baud_rate" default="115200"/>
@@ -31,12 +27,11 @@
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="limited" value="$(arg limited)"/>
<arg name="prefix" value="$(arg prefix)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="controllers" value="$(arg controllers)"/>
<arg name="urscript_file" value="$(arg urscript_file)"/>
<arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
<arg name="tool_parity" value="$(arg tool_parity)"/>
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>