From f6b52c3d294116baa33b4df98604166365692325 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Mon, 30 Sep 2019 09:23:08 +0200
Subject: [PATCH] Documented launch files

---
 .../ur_rtde_driver/ros/hardware_interface.h   |  1 +
 ur_rtde_driver/launch/ur10_bringup.launch     | 21 +++++-----
 ur_rtde_driver/launch/ur10e_bringup.launch    | 37 +++++++++---------
 ur_rtde_driver/launch/ur3_bringup.launch      | 21 +++++-----
 ur_rtde_driver/launch/ur3e_bringup.launch     | 39 +++++++++----------
 ur_rtde_driver/launch/ur5_bringup.launch      | 21 +++++-----
 ur_rtde_driver/launch/ur5e_bringup.launch     | 39 +++++++++----------
 ur_rtde_driver/launch/ur_common.launch        | 36 ++++++++---------
 ur_rtde_driver/launch/ur_control.launch       | 38 +++++++++---------
 ur_rtde_driver/src/ros/hardware_interface.cpp |  8 ++--
 10 files changed, 124 insertions(+), 137 deletions(-)

diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index f481b28..8ef0a80 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -245,6 +245,7 @@ protected:
   bool controllers_initialized_;
 
   std::string robot_ip_;
+  std::string tf_prefix_;
 };
 
 }  // namespace ur_driver
diff --git a/ur_rtde_driver/launch/ur10_bringup.launch b/ur_rtde_driver/launch/ur10_bringup.launch
index a450465..6111d51 100644
--- a/ur_rtde_driver/launch/ur10_bringup.launch
+++ b/ur_rtde_driver/launch/ur10_bringup.launch
@@ -1,17 +1,14 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- 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="$(find ur_description)/config/ur10_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur10_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="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
index bd8da33..feb898b 100644
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -1,26 +1,25 @@
 <?xml version="1.0"?>
 <launch>
 
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <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="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."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
-  <arg name="use_tool_communication" default="false"/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
-  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
-  <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur3_bringup.launch b/ur_rtde_driver/launch/ur3_bringup.launch
index e31ddf3..05cbbbb 100644
--- a/ur_rtde_driver/launch/ur3_bringup.launch
+++ b/ur_rtde_driver/launch/ur3_bringup.launch
@@ -1,17 +1,14 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- 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="$(find ur_description)/config/ur3_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur3_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="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
index 3588a20..feb5dcd 100644
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -1,26 +1,23 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-
-  <arg name="use_tool_communication" default="false"/>
-  <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="$(find ur_e_description)/config/ur3e_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(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="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."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur5_bringup.launch b/ur_rtde_driver/launch/ur5_bringup.launch
index dd71af6..fb292e6 100644
--- a/ur_rtde_driver/launch/ur5_bringup.launch
+++ b/ur_rtde_driver/launch/ur5_bringup.launch
@@ -1,17 +1,14 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- 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="$(find ur_description)/config/ur5_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur5_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="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
index f324d0e..f2326b5 100644
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -1,26 +1,23 @@
 <?xml version="1.0"?>
 <launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-
-  <arg name="use_tool_communication" default="false"/>
-  <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="$(find ur_e_description)/config/ur5e_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="controller_config_file" default="$(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="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."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
index f54d992..76e03f1 100644
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -1,23 +1,23 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="debug" default="false" />
-  <arg name="use_tool_communication"/>
-  <arg name="controller_config_file"/>
-  <arg name="robot_description_file"/>
-  <arg name="kinematics_config"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
+  <arg name="debug" default="false" doc="Debug flag that will get passed on to ur_control.launch"/>
+  <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="kinematics_config" 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="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <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."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="robot_description_file" doc="Robot description launch file."/>
+  <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
 
   <!-- robot model -->
   <include file="$(arg robot_description_file)">
diff --git a/ur_rtde_driver/launch/ur_control.launch b/ur_rtde_driver/launch/ur_control.launch
index e8b8646..9da4898 100644
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -2,28 +2,28 @@
 <launch>
 
   <!-- GDB functionality -->
-  <arg name="debug" default="false" />
+  <arg name="debug" default="false" doc="If set to true, will start the driver inside gdb" />
   <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"/>
-  <arg name="controller_config_file"/>
-  <arg name="robot_ip"/>
-  <arg name="kinematics_config"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
-  <arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt"/>
-  <arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
+  <arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
+  <arg name="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="robot_ip" doc="IP address by which the robot can be reached."/>
+  <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description."/>
+  <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
+  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript" doc="Path to URScript that will be sent to the robot and that forms the main control program."/>
+  <arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt" doc="Recipe file used for the RTDE-outputs. Only change this if you know what you're doing."/>
+  <arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt" doc="Recipe file used for the RTDE-inputs. Only change this if you know what you're doing."/>
+  <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."/>
+  <arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
+  <arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
 
   <!-- Load hardware interface -->
   <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 81a17a1..2cab893 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -64,6 +64,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
     return false;
   }
 
+  robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
+
   // Path to the urscript code that will be sent to the robot. This is a required parameter.
   if (!robot_hw_nh.getParam("script_file", script_filename))
   {
@@ -91,8 +93,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   // message gets published here. So this is equivalent to the information whether the robot accepts
   // commands from ROS side.
   program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
-  tcp_transform_.header.frame_id = "base";
-  tcp_transform_.child_frame_id = "tool0_controller";
+  tcp_transform_.header.frame_id = tf_prefix_ + "base";
+  tcp_transform_.child_frame_id = tf_prefix_ + "tool0_controller";
 
   // Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on
   // e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as
@@ -244,7 +246,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
       ur_controllers::SpeedScalingHandle("speed_scaling_factor", &speed_scaling_combined_));
 
   fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
-      "wrench", "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
+      "wrench", tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
 
   // Register interfaces
   registerInterface(&js_interface_);