mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-09 17:40:47 +02:00
27 lines
1.9 KiB
XML
27 lines
1.9 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="$(find ur_rtde_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
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<arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
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<arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
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<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
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<include file="$(find ur_rtde_driver)/launch/ur_common.launch">
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<arg name="debug" value="$(arg debug)"/>
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<arg name="use_tool_communication" value="false"/>
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<arg name="controller_config_file" value="$(arg controller_config_file)"/>
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<arg name="robot_description_file" value="$(arg robot_description_file)"/>
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<arg name="robot_ip" value="$(arg robot_ip)"/>
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<arg name="kinematics_config" value="$(arg kinematics_config)"/>
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<arg name="limited" value="$(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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</include>
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</launch>
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