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Added arg to enable/disable launch of ursim #679

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Dec 22, 2023
Merged

Added arg to enable/disable launch of ursim #679

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7 changes: 5 additions & 2 deletions ur_robot_driver/test/driver.test
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Original file line number Diff line number Diff line change
Expand Up @@ -5,15 +5,18 @@
-->
<arg name="robot_ip" default="192.168.56.101"/>
<arg name="robot_type" default="ur5e"/>
<arg name="launch_ursim" default="true"/>

<include file="$(find ur_robot_driver)/launch/$(arg robot_type)_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="headless_mode" value="true"/>
<arg name="stopped_controllers" value="forward_joint_traj_controller forward_cartesian_traj_controller twist_controller pose_based_cartesian_traj_controller joint_based_cartesian_traj_controller"/>
</include>

<node name="ursim" pkg="ur_client_library" type="start_ursim.sh" respawn="false" output="screen">
</node>
<group if="$(arg launch_ursim)">
<node name="ursim" pkg="ur_client_library" type="start_ursim.sh" respawn="false" output="screen">
</node>
</group>

<!--If the default controller changes, this remap has to be adapted, as well-->
<remap from="follow_joint_trajectory" to="/scaled_pos_joint_traj_controller/follow_joint_trajectory" />
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