Fix tool voltage setup (#526)

Felix Exner (fexner) · web-flow · commit ebb9e578ab46 · 2022-11-02T08:09:16.000+01:00
* Move BEGIN_REPLACE inside of header

* Change default value of tool_voltage

Keeping this at 0 requires users to explicitly set it to non-zero. This way
we won't accitentally destroy hardware that cannot handle 24V.
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -530,7 +530,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "tool_voltage",
-            default_value="24",
+            default_value="0",  # 0 being a conservative value that won't destroy anything
             description="Tool voltage that will be setup.",
         )
     )
diff --git a/ur_robot_driver/resources/ros_control.urscript b/ur_robot_driver/resources/ros_control.urscript
@@ -1,7 +1,7 @@
-{{BEGIN_REPLACE}}
-
 # HEADER_BEGIN
 
+{{BEGIN_REPLACE}}
+
 steptime = get_steptime()
 
 textmsg("ExternalControl: steptime=", steptime)

Original file line number	Diff line number	Diff line change
`@@ -530,7 +530,7 @@ def generate_launch_description():`
`530`	`530`	`declared_arguments.append(`
`531`	`531`	`DeclareLaunchArgument(`
`532`	`532`	`"tool_voltage",`
`533`		`- default_value="24",`
	`533`	`+ default_value="0", # 0 being a conservative value that won't destroy anything`
`534`	`534`	`description="Tool voltage that will be setup.",`
`535`	`535`	`)`
`536`	`536`	`)`