mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
55 lines
2.3 KiB
XML
55 lines
2.3 KiB
XML
<?xml version="1.0"?>
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<!--
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Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch
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for more info)
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Usage:
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ur5_bringup.launch robot_ip:=<value>
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-->
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<launch>
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<!-- robot_ip: IP-address of the robot's socket-messaging server -->
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<arg name="robot_ip"/>
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<arg name="reverse_port" default="50001"/>
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<arg name="limited" default="false"/>
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<arg name="min_payload" default="0.0"/>
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<arg name="max_payload" default="5.0"/>
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<arg name="prefix" default="" />
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<arg name="use_lowbandwidth_trajectory_follower" default="false"/>
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<arg name="time_interval" default="0.008"/>
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<arg name="servoj_time" default="0.008" />
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<arg name="servoj_time_waiting" default="0.001" />
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<arg name="max_waiting_time" default="2.0" />
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<arg name="servoj_gain" default="100." />
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<arg name="servoj_lookahead_time" default="1." />
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<arg name="max_joint_difference" default="0.01" />
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<arg name="base_frame" default="$(arg prefix)base" />
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<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
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<arg name="shutdown_on_disconnect" default="true" />
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<!-- robot model -->
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<include file="$(find ur_description)/launch/ur5_upload.launch">
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<arg name="limited" value="$(arg limited)"/>
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</include>
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<!-- ur common -->
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<include file="$(find ur_modern_driver)/launch/ur_common.launch">
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="reverse_port" value="$(arg reverse_port)"/>
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<arg name="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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<arg name="prefix" value="$(arg prefix)" />
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<arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
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<arg name="time_interval" value="$(arg time_interval)"/>
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<arg name="servoj_time" value="$(arg servoj_time)" />
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<arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
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<arg name="max_waiting_time" value="$(arg max_waiting_time)" />
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<arg name="servoj_gain" value="$(arg servoj_gain)" />
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<arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
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<arg name="max_joint_difference" value="$(arg max_joint_difference)" />
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<arg name="base_frame" value="$(arg base_frame)" />
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<arg name="tool_frame" value="$(arg tool_frame)" />
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<arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
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</include>
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</launch>
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