mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
30 lines
850 B
XML
30 lines
850 B
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="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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<!-- 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="min_payload" value="$(arg min_payload)"/>
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<arg name="max_payload" value="$(arg max_payload)"/>
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</include>
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</launch>
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