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gavanderhoorngavanderhoorn
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robot_driver: use pass_all_args to reduce verbosity. (#197)
The wrapper launch files essentially only provide defaults, and the common launch file requires all arguments, so we can just forward them.
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6 files changed

+6
-114
lines changed

6 files changed

+6
-114
lines changed

‎ur_robot_driver/launch/ur10_bringup.launch‎

Lines changed: 1 addition & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -13,20 +13,7 @@
1313
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
1414
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
1515

16-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
17-
<arg name="debug" value="$(arg debug)"/>
16+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1817
<arg name="use_tool_communication" value="false"/>
19-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
20-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
21-
<arg name="robot_ip" value="$(arg robot_ip)"/>
22-
<arg name="reverse_port" value="$(arg reverse_port)"/>
23-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
24-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
25-
<arg name="limited" value="$(arg limited)"/>
26-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
27-
<arg name="controllers" value="$(arg controllers)"/>
28-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
29-
<arg name="headless_mode" value="$(arg headless_mode)"/>
3018
</include>
31-
3219
</launch>

‎ur_robot_driver/launch/ur10e_bringup.launch‎

Lines changed: 1 addition & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -23,28 +23,5 @@
2323
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
2424
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
2525

26-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
27-
<arg name="debug" value="$(arg debug)"/>
28-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
29-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
30-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
31-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
32-
<arg name="robot_ip" value="$(arg robot_ip)"/>
33-
<arg name="reverse_port" value="$(arg reverse_port)"/>
34-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
35-
<arg name="limited" value="$(arg limited)"/>
36-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
37-
<arg name="controllers" value="$(arg controllers)"/>
38-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
39-
<arg name="headless_mode" value="$(arg headless_mode)"/>
40-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
41-
<arg name="tool_parity" value="$(arg tool_parity)"/>
42-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
43-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
44-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
45-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
46-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
47-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
48-
</include>
49-
26+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
5027
</launch>

‎ur_robot_driver/launch/ur3_bringup.launch‎

Lines changed: 1 addition & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -13,20 +13,7 @@
1313
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
1414
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
1515

16-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
17-
<arg name="debug" value="$(arg debug)"/>
16+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1817
<arg name="use_tool_communication" value="false"/>
19-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
20-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
21-
<arg name="robot_ip" value="$(arg robot_ip)"/>
22-
<arg name="reverse_port" value="$(arg reverse_port)"/>
23-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
24-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
25-
<arg name="limited" value="$(arg limited)"/>
26-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
27-
<arg name="controllers" value="$(arg controllers)"/>
28-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
29-
<arg name="headless_mode" value="$(arg headless_mode)"/>
3018
</include>
31-
3219
</launch>

‎ur_robot_driver/launch/ur3e_bringup.launch‎

Lines changed: 1 addition & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -22,28 +22,5 @@
2222
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
2323
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
2424

25-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
26-
<arg name="debug" value="$(arg debug)"/>
27-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
28-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
29-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
30-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
31-
<arg name="robot_ip" value="$(arg robot_ip)"/>
32-
<arg name="reverse_port" value="$(arg reverse_port)"/>
33-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
34-
<arg name="limited" value="$(arg limited)"/>
35-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
36-
<arg name="controllers" value="$(arg controllers)"/>
37-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
38-
<arg name="headless_mode" value="$(arg headless_mode)"/>
39-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
40-
<arg name="tool_parity" value="$(arg tool_parity)"/>
41-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
42-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
43-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
44-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
45-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
46-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
47-
</include>
48-
25+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
4926
</launch>

‎ur_robot_driver/launch/ur5_bringup.launch‎

Lines changed: 1 addition & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -13,20 +13,7 @@
1313
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
1414
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
1515

16-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
17-
<arg name="debug" value="$(arg debug)"/>
16+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1817
<arg name="use_tool_communication" value="false"/>
19-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
20-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
21-
<arg name="robot_ip" value="$(arg robot_ip)"/>
22-
<arg name="reverse_port" value="$(arg reverse_port)"/>
23-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
24-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
25-
<arg name="limited" value="$(arg limited)"/>
26-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
27-
<arg name="controllers" value="$(arg controllers)"/>
28-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
29-
<arg name="headless_mode" value="$(arg headless_mode)"/>
3018
</include>
31-
3219
</launch>

‎ur_robot_driver/launch/ur5e_bringup.launch‎

Lines changed: 1 addition & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -22,28 +22,5 @@
2222
<arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
2323
<arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
2424

25-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
26-
<arg name="debug" value="$(arg debug)"/>
27-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
28-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
29-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
30-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
31-
<arg name="robot_ip" value="$(arg robot_ip)"/>
32-
<arg name="reverse_port" value="$(arg reverse_port)"/>
33-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
34-
<arg name="limited" value="$(arg limited)"/>
35-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
36-
<arg name="controllers" value="$(arg controllers)"/>
37-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
38-
<arg name="headless_mode" value="$(arg headless_mode)"/>
39-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
40-
<arg name="tool_parity" value="$(arg tool_parity)"/>
41-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
42-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
43-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
44-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
45-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
46-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
47-
</include>
48-
25+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true" />
4926
</launch>

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