• launch/ur_common.launch
  • Universal robot common bringup. Starts ur driver node and robot state publisher (translates joint positions to propper tfs). NOTE: This launch file also starts a tf2 node, which is not typically used Usage: ur_common.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • min_payload — lower payload bound for the robot
    • max_payload — upper payload bound for the robot
    • prefix [default: ] — Prefix to robot's joints' and links' names
    • max_velocity [default: 10.0]
• launch/ur10_bringup.launch
  • Universal robot ur10 launch. Loads ur10 robot description (see ur_common.launch for more info) Usage: ur10_bringup.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 20.0] — upper payload bound for the robot
• launch/ur5_bringup.launch
  • Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch for more info) Usage: ur5_bringup.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 10.0] — upper payload bound for the robot
• launch/ur3_bringup_joint_limited.launch
  • Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited' joint range [-PI, PI] on all joints. Usage: ur3_bringup_joint_limited.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 3.0] — upper payload bound for the robot
• launch/ur5_bringup_joint_limited.launch
  • Universal robot ur5 launch. Wraps ur5_bringup.launch. Uses the 'limited' joint range [-PI, PI] on all joints. Usage: ur5_bringup_joint_limited.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 10.0] — upper payload bound for the robot
• launch/ur3_bringup.launch
  • Universal robot ur3 launch. Loads ur3 robot description (see ur_common.launch for more info) Usage: ur3_bringup.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • limited [default: false] — If true, limits joint range [-PI, PI] on all joints.
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 3.0] — upper payload bound for the robot
• launch/ur10_bringup_joint_limited.launch
  • Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited' joint range [-PI, PI] on all joints. Usage: ur10_bringup_joint_limited.launch robot_ip:=
  • • robot_ip — IP of the controller
    • reverse_port [default: 50001] — Port on which controller listens for position values passed to servoj thread from the driver
    • min_payload [default: 0.0] — lower payload bound for the robot
    • max_payload [default: 20.0] — upper payload bound for the robot
• tests/roslaunch_test.xml
  • • reverse_port [default: 50001]
    • limited [default: false]
    • min_payload [default: 0.0]
    • max_payload [default: 20.0]

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