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Shaun Edwards
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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).
NOTE: This launch file also starts a tf2 node, which is not typically
used
Usage:
ur_common.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
<param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- driver -->
<node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip)" output="screen" />
<!-- TF Buffer Server -->
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server">
<param name="buffer_size" value="120.0"/>
</node>
</launch>