Obbart/universal_robots_ros_driver
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Documented launch files

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This commit is contained in:
Felix Mauch
2019-09-30 09:23:08 +02:00
parent 2c3e91c95f
commit f6b52c3d29
10 changed files with 124 additions and 137 deletions
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21
ur_rtde_driver/launch/ur10_bringup.launch
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@@ -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)"/>