• launch/example_rviz.launch
• launch/aubo_common.launch
  • • robot_model [default: aubo_i5]
    • 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.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller pos_joint_traj_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.
    • aubo_hardware_interface_node_required [default: false] — Shut down ros environment if aubo_hardware_interface-node dies.
    • robot_model [default: aubo_i5]
• launch/aubo_bringup.launch
  • • robot_model [default: aubo_i5]
    • debug [default: false] — Debug flag that will get passed on to aubo_common.launch
    • robot_ip — IP address by which the robot can be reached.
    • tf_prefix [default: ] — tf_prefix used for the robot.
    • controllers [default: joint_state_controller pos_joint_traj_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 aubo_robot_driver)/config/aubo_i5_controllers.yaml] — Config file used for defining the ROS-Control controllers.
    • robot_description_file [default: $(find aubo_description)/launch/load_aubo.launch] — Robot description launch file.
    • headless_mode [default: false] — Automatically send aubo_Script to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the aubo_Cap is not needed on the robot.
    • aubo_hardware_interface_node_required [default: true] — Shut down ros environment if aubo_hardware_interface-node dies.
• launch/aubo_control.launch
  • • robot_model [default: aubo_i5]
    • 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.
    • kinematics_config [default: $(find aubo_moveit_config)/config/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. 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 pos_joint_traj_controller]
    • stopped_controllers [default: joint_group_vel_controller forward_joint_traj_controller forward_cartesian_traj_controller]
    • 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.
    • aubo_hardware_interface_node_required [default: false] — Shut down ros environment if aubo_hardware_interface-node dies.

• hardware_interface

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