Cleaned up launch files

ur_robot_driver/launch/ur10_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur10_speed_bringup.launch

-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-
-  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
-  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
-  <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller joint_group_vel_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="vel_based_pos_traj_controller"/>
-
-  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="false"/>
-    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
-    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
-    <arg name="limited" value="$(arg limited)"/>
-    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
-    <arg name="controllers" value="$(arg controllers)"/>
-    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
-  </include>
-
-</launch>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -7,7 +7,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur10e_speed_bringup.launch

-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-
-  <arg name="use_tool_communication" default="false"/>
-  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10e_controllers.yaml"/>
-  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
-  <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml"/>
-  <arg name="robot_ip"/>
-  <arg name="limited" default="false"/>
-  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller joint_group_vel_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="vel_based_pos_traj_controller"/>
-  <arg name="tool_voltage" default="0"/>
-  <arg name="tool_parity" default="0"/>
-  <arg name="tool_baud_rate" default="115200"/>
-  <arg name="tool_stop_bits" default="1"/>
-  <arg name="tool_rx_idle_chars" default="1.5"/>
-  <arg name="tool_tx_idle_chars" default="3.5"/>
-  <arg name="tool_device_name" default="/tmp/ttyUR"/>
-  <arg name="tool_tcp_port" default="54321"/>
-
-  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
-    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
-    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
-    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="limited" value="$(arg limited)"/>
-    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
-    <arg name="controllers" value="$(arg controllers)"/>
-    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
-    <arg name="tool_voltage" value="$(arg tool_voltage)"/>
-    <arg name="tool_parity" value="$(arg tool_parity)"/>
-    <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
-    <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
-    <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
-    <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
-    <arg name="tool_device_name" value="$(arg tool_device_name)"/>
-    <arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
-  </include>
-
-</launch>

ur_robot_driver/launch/ur3_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur3e_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur5_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur5e_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>

ur_robot_driver/launch/ur_common.launch

@@ -9,7 +9,7 @@
   <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
-  <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
+  <arg name="stopped_controllers" default="pos_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>