<?xml version="1.0"?>
<!--
  Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited'
  joint range [-PI, PI] on all joints.
  
  Usage:
    ur10_bringup_joint_limited.launch robot_ip:=<value>
-->
<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"  default="0.0"/>
  <arg name="max_payload"  default="20.0"/>

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