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Add support for launching a UR15 robot (#1359)
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‎README.md‎

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@@ -117,7 +117,7 @@ For getting started, you'll basically need three steps:
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details.
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```bash
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30
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# Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30
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# Replace the IP address with the IP address of your actual robot / URSim
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ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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```

‎ur_bringup/launch/ur15.launch.py‎

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# Copyright (c) 2021 PickNik, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the {copyright_holder} nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Denis Stogl
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"robot_ip",
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description="IP address by which the robot can be reached.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_fake_hardware",
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default_value="false",
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description="Start robot with fake hardware mirroring command to its states.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"fake_sensor_commands",
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default_value="false",
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description="Enable fake command interfaces for sensors used for simple simulations. \
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Used only if 'use_fake_hardware' parameter is true.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"initial_joint_controller",
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default_value="scaled_joint_trajectory_controller",
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description="Initially loaded robot controller.",
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choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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],
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"activate_joint_controller",
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default_value="true",
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description="Activate loaded joint controller.",
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)
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)
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# Initialize Arguments
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robot_ip = LaunchConfiguration("robot_ip")
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use_fake_hardware = LaunchConfiguration("use_fake_hardware")
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fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
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base_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
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launch_arguments={
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"ur_type": "ur15",
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"robot_ip": robot_ip,
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"use_fake_hardware": use_fake_hardware,
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"fake_sensor_commands": fake_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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return LaunchDescription(declared_arguments + [base_launch])

‎ur_bringup/launch/ur20.launch.py‎

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Original file line numberDiff line numberDiff line change
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# Copyright (c) 2021 PickNik, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
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29+
#
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# Author: Denis Stogl
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
41+
declared_arguments.append(
42+
DeclareLaunchArgument(
43+
"robot_ip",
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description="IP address by which the robot can be reached.",
45+
)
46+
)
47+
declared_arguments.append(
48+
DeclareLaunchArgument(
49+
"use_fake_hardware",
50+
default_value="false",
51+
description="Start robot with fake hardware mirroring command to its states.",
52+
)
53+
)
54+
declared_arguments.append(
55+
DeclareLaunchArgument(
56+
"fake_sensor_commands",
57+
default_value="false",
58+
description="Enable fake command interfaces for sensors used for simple simulations. \
59+
Used only if 'use_fake_hardware' parameter is true.",
60+
)
61+
)
62+
declared_arguments.append(
63+
DeclareLaunchArgument(
64+
"initial_joint_controller",
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default_value="scaled_joint_trajectory_controller",
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description="Initially loaded robot controller.",
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choices=[
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"scaled_joint_trajectory_controller",
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"joint_trajectory_controller",
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"forward_velocity_controller",
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"forward_position_controller",
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],
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"activate_joint_controller",
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default_value="true",
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description="Activate loaded joint controller.",
80+
)
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)
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# Initialize Arguments
84+
robot_ip = LaunchConfiguration("robot_ip")
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use_fake_hardware = LaunchConfiguration("use_fake_hardware")
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fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
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base_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
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launch_arguments={
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"ur_type": "ur20",
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"robot_ip": robot_ip,
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"use_fake_hardware": use_fake_hardware,
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"fake_sensor_commands": fake_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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return LaunchDescription(declared_arguments + [base_launch])

‎ur_bringup/launch/ur30.launch.py‎

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# Copyright (c) 2021 PickNik, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the {copyright_holder} nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27+
# POSSIBILITY OF SUCH DAMAGE.
28+
29+
#
30+
# Author: Denis Stogl
31+
32+
from launch import LaunchDescription
33+
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
34+
from launch.launch_description_sources import PythonLaunchDescriptionSource
35+
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
36+
37+
38+
def generate_launch_description():
39+
# Declare arguments
40+
declared_arguments = []
41+
declared_arguments.append(
42+
DeclareLaunchArgument(
43+
"robot_ip",
44+
description="IP address by which the robot can be reached.",
45+
)
46+
)
47+
declared_arguments.append(
48+
DeclareLaunchArgument(
49+
"use_fake_hardware",
50+
default_value="false",
51+
description="Start robot with fake hardware mirroring command to its states.",
52+
)
53+
)
54+
declared_arguments.append(
55+
DeclareLaunchArgument(
56+
"fake_sensor_commands",
57+
default_value="false",
58+
description="Enable fake command interfaces for sensors used for simple simulations. \
59+
Used only if 'use_fake_hardware' parameter is true.",
60+
)
61+
)
62+
declared_arguments.append(
63+
DeclareLaunchArgument(
64+
"initial_joint_controller",
65+
default_value="scaled_joint_trajectory_controller",
66+
description="Initially loaded robot controller.",
67+
choices=[
68+
"scaled_joint_trajectory_controller",
69+
"joint_trajectory_controller",
70+
"forward_velocity_controller",
71+
"forward_position_controller",
72+
],
73+
)
74+
)
75+
declared_arguments.append(
76+
DeclareLaunchArgument(
77+
"activate_joint_controller",
78+
default_value="true",
79+
description="Activate loaded joint controller.",
80+
)
81+
)
82+
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# Initialize Arguments
84+
robot_ip = LaunchConfiguration("robot_ip")
85+
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
86+
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
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initial_joint_controller = LaunchConfiguration("initial_joint_controller")
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activate_joint_controller = LaunchConfiguration("activate_joint_controller")
89+
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base_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/ur_control.launch.py"]),
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launch_arguments={
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"ur_type": "ur30",
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"robot_ip": robot_ip,
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"use_fake_hardware": use_fake_hardware,
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"fake_sensor_commands": fake_sensor_commands,
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"initial_joint_controller": initial_joint_controller,
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"activate_joint_controller": activate_joint_controller,
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}.items(),
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)
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return LaunchDescription(declared_arguments + [base_launch])

‎ur_bringup/launch/ur_control.launch.py‎

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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],

‎ur_moveit_config/launch/ur_moveit.launch.py‎

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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],

‎ur_robot_driver/config/ur15_update_rate.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 500 # Hz

‎ur_robot_driver/doc/usage/startup.rst‎

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$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
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Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur7e``, ``ur10``, ``ur10e``,
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``ur12e``, ``ur16e``, ``ur20``, ``ur30``.
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``ur12e``, ``ur16e``, ``ur15``, ``ur20``, ``ur30``.
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Other important arguments are:
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