<?xml version="1.0"?>
<launch>
  <arg name="robot_ip" value="127.0.0.1" />
  <arg name="reverse_port" default="50001"/>
  <arg name="limited" default="false"/>
  <arg name="min_payload" default="0.0"/>
  <arg name="max_payload" default="20.0"/>

  <group ns="ur3_bringup__">
    <include file="$(find ur_bringup)/launch/ur3_bringup.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur5_bringup__">
    <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur10_bringup__">
    <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur3_bringup_joint_limited__">
    <include file="$(find ur_bringup)/launch/ur3_bringup_joint_limited.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur5_bringup_joint_limited__">
    <include file="$(find ur_bringup)/launch/ur5_bringup_joint_limited.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur10_bringup_joint_limited__">
    <include file="$(find ur_bringup)/launch/ur10_bringup_joint_limited.launch">
      <arg name="robot_ip" value="$(arg robot_ip)" />
    </include>
  </group>

  <group ns="ur_common__">
    <include file="$(find ur_bringup)/launch/ur_common.launch">
      <arg name="robot_ip" value="$(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)"/>
    </include>
  </group>

</launch>