mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
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29 lines
1.0 KiB
XML
29 lines
1.0 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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<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
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NOTE: The ip address is actually passed to the driver on the command line -->
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<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- driver -->
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<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg robot_ip)" output="screen">
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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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</launch>
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