mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-09 17:40:47 +02:00
46 lines
3.8 KiB
XML
46 lines
3.8 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
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<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
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<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
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<arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
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<arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
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<arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
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<arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
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<arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
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<arg name="use_tool_communication" doc="On e-Series robots tool communication can be enabled with this argument"/>
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<arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
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<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
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<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.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="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="kinematics_config" value="$(arg kinematics_config)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="limited" value="$(arg limited)"/>
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<arg name="tf_prefix" value="$(arg tf_prefix)"/>
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<arg name="controllers" value="$(arg controllers)"/>
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<arg name="stopped_controllers" value="$(arg stopped_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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<arg name="tool_device_name" value="$(arg tool_device_name)"/>
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<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
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</include>
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</launch>
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