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Merged
urfeex merged 1 commit into from
Apr 2, 2025
Merged

Add launchfiles for ur7e and ur12e #743

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30 changes: 30 additions & 0 deletions ur_robot_driver/launch/ur12e_bringup.launch
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<?xml version="1.0"?>
<launch>

<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="reverse_ip" default="" doc="IP of the driver, if set to empty it will detect it automatically."/>
<arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
<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="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
<arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur12e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/load_ur12e.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur12e/default_kinematics.yaml" 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="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
<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."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<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."/>
<arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>

<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
</launch>
29 changes: 29 additions & 0 deletions ur_robot_driver/launch/ur7e_bringup.launch
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<?xml version="1.0"?>
<launch>
<arg name="debug" default="false" doc="Debug flag that will get passed on to ur_common.launch"/>
<arg name="robot_ip" doc="IP address by which the robot can be reached."/>
<arg name="reverse_ip" default="" doc="IP of the driver, if set to empty it will detect it automatically."/>
<arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
<arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
<arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
<arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
<arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
<arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
<arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur7e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg name="robot_description_file" default="$(find ur_description)/launch/load_ur7e.launch" doc="Robot description launch file."/>
<arg name="kinematics_config" default="$(find ur_description)/config/ur7e/default_kinematics.yaml" 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="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
<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."/>
<arg name="tool_stop_bits" default="1" doc="Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_rx_idle_chars" default="1.5" doc="Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tx_idle_chars" default="3.5" doc="Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_device_name" default="/tmp/ttyUR" doc="Local device name used for tool communication. Only used, when `use_tool_communication` is set to true."/>
<arg name="tool_tcp_port" default="54321" doc="Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true."/>
<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."/>
<arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>

<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true" />
</launch>