ur5_ros_control.launch

<?xml version="1.0"?>
<launch>

  <!-- GDB functionality -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="robot_ip"/>
  <arg name="limited" default="false"/>
  <arg name="min_payload"  default="0.0"/>
  <arg name="max_payload"  default="3.0"/>
  <arg name="prefix" default="" />  
  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
  <arg name="base_frame" default="$(arg prefix)base" />
  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
  <!-- robot model -->
  <include file="$(find ur_description)/launch/ur5_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>


  <!-- Load hardware interface -->
  <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
    <param name="robot_ip_address" type="str" value="$(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="$(arg max_velocity)"/>
    <param name="use_ros_control" type="bool" value="True"/>
    <param name="servoj_gain" type="double" value="750" />
    <param name="prefix" value="$(arg prefix)" />
    <param name="base_frame" type="str" value="$(arg base_frame)"/>
    <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
  </node>

  <!-- Load controller settings -->
  <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>

  <!-- spawn controller manager -->
  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />

  <!-- load other controller --> 
  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
    output="screen" args="load pos_based_pos_traj_controller" /> 

  <!-- Convert joint states to /tf tranforms -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

</launch>