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Felix Exner
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robot_driver: use pass_all_args to reduce verbosity. (#197)
The wrapper launch files essentially only provide defaults, and the common launch file requires all arguments, so we can just forward them.
1 parent 00b09ba commit b54831e

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7 files changed

+7
-131
lines changed

7 files changed

+7
-131
lines changed

‎ur_robot_driver/launch/ur10_bringup.launch‎

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -12,19 +12,7 @@
1212
<arg name="kinematics_config" default="$(find ur_description)/config/ur10/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."/>
1313
<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."/>
1414

15-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
16-
<arg name="debug" value="$(arg debug)"/>
15+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1716
<arg name="use_tool_communication" value="false"/>
18-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
19-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
20-
<arg name="robot_ip" value="$(arg robot_ip)"/>
21-
<arg name="reverse_port" value="$(arg reverse_port)"/>
22-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
23-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
24-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
25-
<arg name="controllers" value="$(arg controllers)"/>
26-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
27-
<arg name="headless_mode" value="$(arg headless_mode)"/>
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</include>
29-
3018
</launch>

‎ur_robot_driver/launch/ur10e_bringup.launch‎

Lines changed: 1 addition & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -22,27 +22,5 @@
2222
<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."/>
2323
<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."/>
2424

25-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
26-
<arg name="debug" value="$(arg debug)"/>
27-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
28-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
29-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
30-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
31-
<arg name="robot_ip" value="$(arg robot_ip)"/>
32-
<arg name="reverse_port" value="$(arg reverse_port)"/>
33-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
34-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
35-
<arg name="controllers" value="$(arg controllers)"/>
36-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
37-
<arg name="headless_mode" value="$(arg headless_mode)"/>
38-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
39-
<arg name="tool_parity" value="$(arg tool_parity)"/>
40-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
41-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
42-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
43-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
44-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
45-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
46-
</include>
47-
25+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
4826
</launch>

‎ur_robot_driver/launch/ur16e_bringup.launch‎

Lines changed: 1 addition & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -22,27 +22,5 @@
2222
<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."/>
2323
<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."/>
2424

25-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
26-
<arg name="debug" value="$(arg debug)"/>
27-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
28-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
29-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
30-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
31-
<arg name="robot_ip" value="$(arg robot_ip)"/>
32-
<arg name="reverse_port" value="$(arg reverse_port)"/>
33-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
34-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
35-
<arg name="controllers" value="$(arg controllers)"/>
36-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
37-
<arg name="headless_mode" value="$(arg headless_mode)"/>
38-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
39-
<arg name="tool_parity" value="$(arg tool_parity)"/>
40-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
41-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
42-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
43-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
44-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
45-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
46-
</include>
47-
25+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
4826
</launch>

‎ur_robot_driver/launch/ur3_bringup.launch‎

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -12,19 +12,7 @@
1212
<arg name="kinematics_config" default="$(find ur_description)/config/ur3/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."/>
1313
<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."/>
1414

15-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
16-
<arg name="debug" value="$(arg debug)"/>
15+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1716
<arg name="use_tool_communication" value="false"/>
18-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
19-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
20-
<arg name="robot_ip" value="$(arg robot_ip)"/>
21-
<arg name="reverse_port" value="$(arg reverse_port)"/>
22-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
23-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
24-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
25-
<arg name="controllers" value="$(arg controllers)"/>
26-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
27-
<arg name="headless_mode" value="$(arg headless_mode)"/>
2817
</include>
29-
3018
</launch>

‎ur_robot_driver/launch/ur3e_bringup.launch‎

Lines changed: 1 addition & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -21,27 +21,5 @@
2121
<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."/>
2222
<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."/>
2323

24-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
25-
<arg name="debug" value="$(arg debug)"/>
26-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
27-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
28-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
29-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
30-
<arg name="robot_ip" value="$(arg robot_ip)"/>
31-
<arg name="reverse_port" value="$(arg reverse_port)"/>
32-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
33-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
34-
<arg name="controllers" value="$(arg controllers)"/>
35-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
36-
<arg name="headless_mode" value="$(arg headless_mode)"/>
37-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
38-
<arg name="tool_parity" value="$(arg tool_parity)"/>
39-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
40-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
41-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
42-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
43-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
44-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
45-
</include>
46-
24+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
4725
</launch>

‎ur_robot_driver/launch/ur5_bringup.launch‎

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -12,19 +12,7 @@
1212
<arg name="kinematics_config" default="$(find ur_description)/config/ur5/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."/>
1313
<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."/>
1414

15-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
16-
<arg name="debug" value="$(arg debug)"/>
15+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
1716
<arg name="use_tool_communication" value="false"/>
18-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
19-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
20-
<arg name="robot_ip" value="$(arg robot_ip)"/>
21-
<arg name="reverse_port" value="$(arg reverse_port)"/>
22-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
23-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
24-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
25-
<arg name="controllers" value="$(arg controllers)"/>
26-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
27-
<arg name="headless_mode" value="$(arg headless_mode)"/>
2817
</include>
29-
3018
</launch>

‎ur_robot_driver/launch/ur5e_bringup.launch‎

Lines changed: 1 addition & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -21,27 +21,5 @@
2121
<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."/>
2222
<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."/>
2323

24-
<include file="$(find ur_robot_driver)/launch/ur_common.launch">
25-
<arg name="debug" value="$(arg debug)"/>
26-
<arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
27-
<arg name="controller_config_file" value="$(arg controller_config_file)"/>
28-
<arg name="robot_description_file" value="$(arg robot_description_file)"/>
29-
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
30-
<arg name="robot_ip" value="$(arg robot_ip)"/>
31-
<arg name="reverse_port" value="$(arg reverse_port)"/>
32-
<arg name="script_sender_port" value="$(arg script_sender_port)"/>
33-
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
34-
<arg name="controllers" value="$(arg controllers)"/>
35-
<arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
36-
<arg name="headless_mode" value="$(arg headless_mode)"/>
37-
<arg name="tool_voltage" value="$(arg tool_voltage)"/>
38-
<arg name="tool_parity" value="$(arg tool_parity)"/>
39-
<arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
40-
<arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
41-
<arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
42-
<arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
43-
<arg name="tool_device_name" value="$(arg tool_device_name)"/>
44-
<arg name="tool_tcp_port" value="$(arg tool_tcp_port)"/>
45-
</include>
46-
24+
<include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
4725
</launch>

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