added launchfile argument for setting reverse_port + update readme

README.md

@@ -12,7 +12,7 @@ For each command use a new terminal (don't forget to source the setup shell file
 
 To bring up the REAL robot, run:
 
-```roslaunch ur_bringup ur5.launch robot_ip:=IP_OF_THE_ROBOT```
+```roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT reverse_port:=REVERSE_PORT```
 
 To bring up the SIMULATED robots, run:
 
@@ -44,7 +44,7 @@ In order to be able to use RViz to trigger Planning Request using the MoveIt! Pl
 NOTE: 
 As MoveIt! seems to have difficulties with finding plans for the UR with joint limits [-2pi, 2pi], there is a joint_limited version using joint limits [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited':
 
-```roslaunch ur_bringup ur5.launch limited:=true robot_ip:=IP_OF_THE_ROBOT```
+```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT reverse_port:=REVERSE_PORT```
 
 OR
 

ur_bringup/launch/ur10_bringup.launch

@@ -9,7 +9,8 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
+  <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
 
   <!-- robot model -->
@@ -19,7 +20,8 @@
   
   <!-- ur common -->
   <include file="$(find ur_bringup)/launch/ur_common.launch">
-    <arg name="robot_ip"   value="$(arg robot_ip)" />
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
   </include>
 
 </launch>

ur_bringup/launch/ur10_bringup_joint_limited.launch

@@ -9,10 +9,12 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
+  <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
 
   <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
   </include>
 </launch>

ur_bringup/launch/ur5_bringup.launch

@@ -9,7 +9,8 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
+  <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   <arg name="limited" default="false"/>
 
   <!-- robot model -->
@@ -19,7 +20,8 @@
   
   <!-- ur common -->
   <include file="$(find ur_bringup)/launch/ur_common.launch">
-    <arg name="robot_ip"   value="$(arg robot_ip)" />
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
   </include>
 
 </launch>

ur_bringup/launch/ur5_bringup_joint_limited.launch

@@ -9,10 +9,12 @@
 <launch>
   
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
+  <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
 
   <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="limited"  value="true"/>
   </include>
 </launch>

ur_bringup/launch/ur_common.launch

@@ -11,16 +11,18 @@
 -->
 <launch>
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
+  <arg name="robot_ip"/>
+  <arg name="reverse_port" default="50001"/>
   
   <!-- 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="$(arg robot_ip)"/>
+  <param name="/robot_reverse_port" type="int" value="$(arg reverse_port)"/>
   
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
   <!-- driver -->
-  <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip)" output="screen" />
+  <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen" />
    
   <!-- TF Buffer Server -->
   <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server">