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ur_common.launch
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ur_common.launch
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<?xml version="1.0"?>
<!--
Universal robot common bringup. Starts ur driver node and robot state
publisher (translates joint positions to propper tfs).
Usage:
ur_common.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<arg name="min_payload" />
<arg name="max_payload" />
<arg name="prefix" default="" />
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- driver -->
<node name="ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
<param name="prefix" type="str" value="$(arg prefix)" />
<param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
<param name="min_payload" type="double" value="$(arg min_payload)" />
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
</node>
</launch>