• launch/ur_control.launch
  • • debug [default: false] — If set to true, will start the driver inside gdb
    • use_tool_communication — On e-Series robots tool communication can be enabled with this argument
    • controller_config_file — Config file used for defining the ROS-Control controllers.
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • kinematics_config — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller force_torque_sensor_controller robot_status_controller]
    • stopped_controllers [default: joint_group_vel_controller forward_joint_traj_controller forward_cartesian_traj_controller]
    • urscript_file [default: $(find ur_client_library)/resources/external_control.urscript] — Path to URScript that will be sent to the robot and that forms the main control program.
    • rtde_output_recipe_file [default: $(find ur_robot_driver)/resources/rtde_output_recipe.txt] — Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
    • rtde_input_recipe_file [default: $(find ur_robot_driver)/resources/rtde_input_recipe.txt] — Recipe file used for the RTDE-inputs. Only change this if you know what you're doing.
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • headless_mode [default: false] — 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.
    • servoj_gain [default: 2000] — Specify gain for servoing to position in joint space. A higher gain can sharpen the trajectory.
    • servoj_lookahead_time [default: 0.03] — Specify lookahead time for servoing to position in joint space. A longer lookahead time can smooth the trajectory.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
    • use_spline_interpolation [default: true] — True if splines should be used as interpolation on the robot controller when forwarding trajectory, if false movej or movel commands are used
• launch/ur5_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur5_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur5.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur5/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur10_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur10_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur10.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur10/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur3e_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur3e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur3e.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur3e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur5e_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur5e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur5e.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur5e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur3_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur3_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur3.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur3/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur10e_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur10e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur10e.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur10e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur16e_bringup.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • controller_config_file [default: $(find ur_robot_driver)/config/ur16e_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find ur_description)/launch/load_ur16e.launch] — Robot description launch file.
    • kinematics_config [default: $(find ur_description)/config/ur16e/default_kinematics.yaml] — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • use_tool_communication [default: false] — On e-Series robots tool communication can be enabled with this argument
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
• launch/ur_common.launch
  • • debug [default: false] — Debug flag that will get passed on to ur_control.launch
    • use_tool_communication — On e-Series robots tool communication can be enabled with this argument
    • controller_config_file — Config file used for defining the ROS-Control controllers.
    • robot_ip — IP address by which the robot can be reached.
    • reverse_ip [default: ] — IP of the driver, if set to empty it will detect it automatically.
    • reverse_port [default: 50001] — Port that will be opened by the driver to allow direct communication between the driver and the robot controller.
    • script_sender_port [default: 50002] — 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.
    • trajectory_port [default: 50003] — Port that will be opened by the driver to allow trajectory forwarding.
    • script_command_port [default: 50004] — Port that will be opened by the driver to allow forwarding script commands to the robot.
    • kinematics_config — Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller robot_status_controller] — Controllers that are activated by default.
    • stopped_controllers [default: pos_joint_traj_controller joint_group_vel_controller] — Controllers that are initally loaded, but not started.
    • tool_voltage [default: 0] — Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
    • tool_parity [default: 0] — Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_baud_rate [default: 115200] — Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_stop_bits [default: 1] — Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_rx_idle_chars [default: 1.5] — Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tx_idle_chars [default: 3.5] — Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_device_name [default: /tmp/ttyUR] — Local device name used for tool communication. Only used, when `use_tool_communication` is set to true.
    • tool_tcp_port [default: 54321] — Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true.
    • robot_description_file — Robot description launch file.
    • headless_mode [default: false] — 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.
    • ur_hardware_interface_node_required [default: true] — Shut down ros environment if ur_hardware_interface-node dies.
    • use_spline_interpolation [default: true] — True if splines should be used as interpolation on the robot controller when forwarding trajectory, if false movej or movel commands are used
• launch/example_rviz.launch

• hardware_interface

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