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Add reverse_port argument to launch files #254

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Feb 12, 2019
Merged

Add reverse_port argument to launch files #254

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2 changes: 2 additions & 0 deletions launch/ur10_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
Expand All @@ -33,6 +34,7 @@
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" default="" />
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2 changes: 2 additions & 0 deletions launch/ur10_bringup_compatible.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
Expand All @@ -34,6 +35,7 @@
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" default="" />
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2 changes: 2 additions & 0 deletions launch/ur10_bringup_joint_limited.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="10.0"/>
<arg name="prefix" default="" />
Expand All @@ -27,6 +28,7 @@

<include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
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2 changes: 2 additions & 0 deletions launch/ur10_ros_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
Expand All @@ -26,6 +27,7 @@
<!-- 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="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
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2 changes: 2 additions & 0 deletions launch/ur3_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
Expand All @@ -33,6 +34,7 @@
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
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2 changes: 2 additions & 0 deletions launch/ur3_bringup_joint_limited.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
<arg name="prefix" default="" />
Expand All @@ -27,6 +28,7 @@

<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
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2 changes: 2 additions & 0 deletions launch/ur3_ros_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
Expand All @@ -26,6 +27,7 @@
<!-- 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="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
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2 changes: 2 additions & 0 deletions launch/ur5_bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
Expand All @@ -33,6 +34,7 @@
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
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2 changes: 2 additions & 0 deletions launch/ur5_bringup_compatible.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
Expand All @@ -34,6 +35,7 @@
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)" />
Expand Down
2 changes: 2 additions & 0 deletions launch/ur5_bringup_joint_limited.launch
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
Expand All @@ -27,6 +28,7 @@

<include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
Expand Down
3 changes: 2 additions & 1 deletion launch/ur5_ros_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="3.0"/>
Expand All @@ -26,6 +27,7 @@
<!-- 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="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="min_payload" type="double" value="$(arg min_payload)"/>
<param name="max_payload" type="double" value="$(arg max_payload)"/>
<param name="max_velocity" type="double" value="$(arg max_velocity)"/>
Expand All @@ -52,4 +54,3 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

</launch>

2 changes: 2 additions & 0 deletions launch/ur_common.launch
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Expand Up @@ -9,6 +9,7 @@
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" />
<arg name="max_payload" />
<arg name="prefix" default="" />
Expand Down Expand Up @@ -38,6 +39,7 @@
<!-- 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="reverse_port" type="int" value="$(arg reverse_port)" />
<param name="use_ros_control" type="bool" value="$(arg use_ros_control)"/>
<param name="use_lowbandwidth_trajectory_follower" type="bool" value="$(arg use_lowbandwidth_trajectory_follower)"/>
<param name="min_payload" type="double" value="$(arg min_payload)" />
Expand Down