mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
47 lines
2.1 KiB
XML
47 lines
2.1 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="debug" default="false" />
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<arg name="use_tool_communication"/>
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<arg name="controller_config_file"/>
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<arg name="robot_description_file"/>
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<arg name="kinematics_config"/>
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<arg name="robot_ip"/>
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<arg name="limited" default="false"/>
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<arg name="tf_prefix" default="" />
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<arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
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<arg name="stopped_controllers" default=""/>
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<arg name="tool_voltage" default="12"/>
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<arg name="tool_parity" default="0"/>
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<arg name="tool_baud_rate" default="115200"/>
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<arg name="tool_stop_bits" default="1"/>
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<arg name="tool_rx_idle_chars" default="1.5"/>
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<arg name="tool_tx_idle_chars" default="3.5"/>
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<arg name="tool_device_name" default="/tmp/ttyUR"/>
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<arg name="tool_tcp_port" default="54321"/>
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<!-- robot model -->
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<include file="$(arg robot_description_file)">
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<arg name="limited" value="$(arg limited)"/>
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<arg name="kinematics_config" value="$(arg kinematics_config)"/>
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</include>
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<!-- Convert joint states to /tf tranforms -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<include file="$(find ur_rtde_driver)/launch/ur_control.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="kinematics_config" value="$(arg kinematics_config)"/>
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<arg name="tf_prefix" value="$(arg tf_prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="tool_voltage" value="$(arg tool_voltage)"/>
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<arg name="tool_parity" value="$(arg tool_parity)"/>
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<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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</include>
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</launch>
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