mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
49 lines
2.2 KiB
XML
49 lines
2.2 KiB
XML
<?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>
|