mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
41 lines
1.6 KiB
XML
41 lines
1.6 KiB
XML
<launch>
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<!-- GDB functionality -->
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<arg name="debug" default="false" />
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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<arg name="robot_ip"/>
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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="max_velocity" default="10.0"/> <!-- [rad/s] -->
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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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<group ns="universal_robot">
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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="robot_ip_address" type="str" value="$(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="$(arg max_velocity)"/>
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
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<!-- Load controller manager -->
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<!-- <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
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output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> -->
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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</group>
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</launch>
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