mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-09 17:40:47 +02:00
75 lines
5.5 KiB
XML
75 lines
5.5 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- GDB functionality -->
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<arg name="debug" default="false" doc="If set to true, will start the driver inside gdb" />
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
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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="controller_config_file" doc="Config file used for defining the ROS-Control controllers."/>
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<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
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<arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description."/>
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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="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript" doc="Path to URScript that will be sent to the robot and that forms the main control program."/>
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<arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt" doc="Recipe file used for the RTDE-outputs. Only change this if you know what you're doing."/>
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<arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt" doc="Recipe file used for the RTDE-inputs. Only change this if you know what you're doing."/>
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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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<!-- Load hardware interface -->
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<node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
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<param name="robot_ip" type="str" value="$(arg robot_ip)"/>
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<rosparam command="load" file="$(arg kinematics_config)" />
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<param name="script_file" value="$(arg urscript_file)"/>
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<param name="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>
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<param name="input_recipe_file" value="$(arg rtde_input_recipe_file)"/>
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<param name="tf_prefix" value="$(arg tf_prefix)"/>
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<param name="use_tool_communication" value="$(arg use_tool_communication)"/>
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<!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
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<param name="tool_voltage" value="$(arg tool_voltage)"/>
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<param name="tool_parity" value="$(arg tool_parity)"/>
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<param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
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<param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
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<param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
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<param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
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</node>
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<!-- Starts socat to bridge the robot's tool communication interface to a local tty device -->
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<node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
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<param name="robot_ip" value="$(arg robot_ip)"/>
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<param name="device_name" value="$(arg tool_device_name)"/>
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<param name="tcp_port" value="$(arg tool_tcp_port)"/>
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</node>
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<!-- Load controller settings -->
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<rosparam file="$(arg controller_config_file)" command="load"/>
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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="$(arg controllers)" />
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<!-- load other controller -->
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<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
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output="screen" args="load $(arg stopped_controllers)" />
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<node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
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<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
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<rosparam param="consistent_controllers">
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- "joint_state_controller"
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- "speed_scaling_state_controller"
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- "force_torque_sensor_controller"
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</rosparam>
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</node>
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</launch>
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