mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
43 lines
2.0 KiB
XML
43 lines
2.0 KiB
XML
<?xml version="1.0"?>
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<!--
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Universal robot common bringup. Starts ur driver node and robot state
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publisher (translates joint positions to propper tfs).
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Usage:
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ur_common.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="min_payload" />
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<arg name="max_payload" />
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<arg name="prefix" default="" />
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<arg name="servoj_time" default="0.008" />
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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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<!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
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<arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
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<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
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<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- driver -->
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<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
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<!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
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<param name="prefix" type="str" value="$(arg prefix)" />
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<param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
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<param name="min_payload" type="double" value="$(arg min_payload)" />
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<param name="max_payload" type="double" value="$(arg max_payload)" />
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<param name="max_velocity" type="double" value="$(arg max_velocity)" />
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<param name="servoj_time" type="double" value="$(arg servoj_time)" />
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<param name="base_frame" type="str" value="$(arg base_frame)"/>
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<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
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<param name="require_activation" type="str" value="$(arg require_activation)" />
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<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
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</node>
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</launch>
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